We are glad about contributions in any way, shape, or form. If you have patches or new features, please consider creating a merge request. We are also always happy to hear about projects in which you have implemented your own plug-ins.
On a case-by-case basis we have to decide on whether to merge new branches or whether to create preliminary topic branches for them. Trivial changes are also always welcome.
New controllers or local planners should be implemented in the form of plug-ins that do not need extensions to the main framework.
We appreciate every posted issue for any kind of bug, failed assertion or usability issue, as well as in the form of ideas and suggestions.