I'm experiencing an issue with a delay in the cmd_vel publisher for a robot I'm simulating. Any help would be appreciated.
The first time I publish velocity commands, right after launching the simulation and configuring the controllers, the robot doesn't move for a while. I've tried different publishing rates, but that didn't resolve the issue. However, once the simulation is running and I re-publish commands, the robot responds instantly. I've recorded a short video demonstrating the issue: ros2_control cmd_vel delay
Any suggestions on what might be causing this delay? Could it be related to complex collision meshes in the URDF?
