Watchdog makes the robot not able to move consistently

[hanzheteng]

First, I really appreciate your contribution to this demo. These programs are really helpful. While running the program, I found a problem that the robot cannot move consistently. So I tested the robot through rostopic pub. The result shows that the robot moves smoothly when the command rate is greater than 2 Hz.

Then I looked up the wiki of ROSARIA and found the description as follows:

if no cmd_vel messages are received after 600ms (configurable or disabled via cmd_vel_timeout parameter, see below), rosaria will stop the robot.

Maybe this factor does not be considered in your code yet. I have fixed this problem and want to share with you.

Thank you very much again!

[pengtang]

If you have added some logic to deal with this case, please make a PR, and I will update the README file after merging, thanks!