Lower trans_stopped_velocity below the robot's real top speed#30
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MJohnson459 wants to merge 1 commit into
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Lower trans_stopped_velocity below the robot's real top speed#30MJohnson459 wants to merge 1 commit into
MJohnson459 wants to merge 1 commit into
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trans_stopped_velocity was 0.25 m/s, above the ~0.218 m/s ceiling the servos actually sustain, so the controller treated the robot as stopped even at full cruise — skewing the RotateToGoal "have we stopped translating yet" check. Drop it to 0.1, clearly below cruising speed. Claude-Session: https://claude.ai/code/session_01C1uzkSYe5pzhPvamaoaHcW
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Summary
FollowPath.trans_stopped_velocitywas0.25m/s — above the ~0.218 m/s surface-speed ceiling the servos actually sustain at the 5 V supply (measured from recorded odometry). The controller therefore treats the robot as "stopped translating" even at full cruise, which skews the RotateToGoal critic's "have we stopped yet" check. Lower it to0.1, clearly below cruising speed.Context
Surfaced while reviewing the real-robot nav bags (the same investigation behind the WheelSpeedLimit critic, #28): the robot's linear speed is hard-walled at ~0.218 m/s, so any threshold above that is never crossed.
Test plan
nav2_params.yamlstill parses.Note
Touches the same
FollowPathblock as #28, so whichever lands second will need a trivial conflict resolution.🤖 Generated with Claude Code