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No need to calculate velocities yourself. Transformer::lookupTwist() will return velocity as a geometry_msgs/Twist.

~~No need~~ The standard way to ~~calculate~~ get velocities ~~yourself.~~ from TF is with Transformer::lookupTwist() , which will return velocity as a geometry_msgs/Twist.. I'm not sure how that will work with your intermittent TF broadcasting though.

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