Add twist/velocity broadcaster#6
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Mar 17, 2026
Add twist/velocity broadcaster
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Quick demo on the twist/velocity broadcasting displayed in rviz:
2025-09-08.12-01-39.mp4
I added a broadcaster that enables broadcasting the twist of the end effector in the local frame. It uses
getFrameVelocityof pinocchio to compute it.It should be a minimal change.