diff_drive_controller uses stamped messages in jazzy

[garyservin]

Environment

• OS Version: Ubuntu 24.04
• Source or binary build?
  Source, jazzy branch

Description

The diff_drive_controller deprecated non-stamped Twist messages a while ago (ros-controls/ros2_controllers@9d4ea6b) It seems this is the default for jazzy now, so all velocity commands need to be Stamped now.

Steps to reproduce

1. Bringup the robot with ros2 launch andino_bringup andino_robot.launch.py
2. Check the topic type ros2 topic info /cmd_vel, it will show that it requires a TwistStamped message

Output

➜  andino_bringup git:(jazzy) ✗ ros2 topic info /cmd_vel  
Type: geometry_msgs/msg/TwistStamped
Publisher count: 0
Subscription count: 1