Add support to publish to geometry_msgs/TwistStamped using the teleop panel

[TFM99102]

So far the teleop panel can only publish an geometry_msgs/Twist message. I think it would be useful to also be able to publish a geometry_msgs/TwistStamped message.

[jtbandes]

Internal tracking issue: https://linear.app/foxglove/issue/FG-3786

[bernard-bear]

Hi @jtbandes, can I check if there's any update on whether this feature is being worked on and if there's any timeline? If not, I'm happy to attempt a PR (any guidance would be appreciated) as I need this feature as well. Thanks!

[jtbandes]

We aren't planning to prioritize this in the near future, but if you are interested in making a PR we can review it. The Teleop code is here: https://github.com/foxglove/studio/blob/main/packages/studio-base/src/panels/Teleop/TeleopPanel.tsx

One thing I would wonder about (not sure what the right answer is) is what timestamp should be used? Is it meant to be the system clock or the latest time from the connected data source, or what? I imagine there will also need to be a way to choose the frame id in the settings.

[bernard-bear]

For a start, I would like to publish TwistStamped without any header. Would that be sufficient as as standalone PR? (For my purposes, I do not need the information in the header)

[jtbandes]

It seems strange to have a TwistStamped without filling in the header values – in that case that's what the Twist message is designed for. What is the use case this is solving?

[tonynajjar]

Nav2 migrated to TwistStamped, this is becoming more urgent for the teleop panel to stay relevant. @jtbandes any update on that internal ticket?

[defunctzombie]

There are no updates to that issue. For folks that must have this functionality asap (and are blocked) you can make a custom panel to produce any kind of message suited for your robot.

[jtbandes]

Interesting to note that they have also added a enable_stamped_cmd_vel parameter for toggling between types. It's possible we could autodetect this. However, I believe in ROS 2 parameters are per-node so I'm not sure this would actually work