Add guard to dt negative case and break the controller for safety#563

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alcantara09 wants to merge 4 commits intoros-controls:noetic-develfrom alcantara09:feature/add_guard_to_dt_negative

+15-3

Commits on Jun 10, 2021

guard dt negative case and break the controller
Gabriel Alcantara Costa Silva
committed
set cmd_dt to zero in case period is negative
Gabriel Alcantara Costa Silva
committed
remove setting curr_cmd to zero when cmd_dt is negative to avoid abrupt changes in control
Gabriel Alcantara Costa Silva
committed

Commits on Sep 23, 2021

correct negative time check for error log
Gabriel Alcantara Costa Silva
committed