Update to Diff_tf #2
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…spin. With the spin being called outside of the system and the timer producing the same loop the original code was doing, it allows the ros2 system to list and change the parameters as it is running or during launch.
Bugs include: Sleep blocked the entire call, did not break out -- used timers instead to execute whenever the appropriate time had passed. Fixed up the send tranform call. ROS2 wants to receieve a message. It assumed there was a structure being sent.
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@klintan Any update on this PR? |
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Awesome thanks for your contribution! I looked at this, but completely forgot about, so thanks for reminding me :) I'll merge, |
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Fixed some of the bugs i found.
This should similar to twist to motors allow the system to fully utilise the new ros2 features.