Route navigation through a final velocity gate - #2
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September 7, 2026 06:07
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Routes the Gazebo differential-drive command input through a shared final velocity gate. Adds exclusive navigation/manual selection, command bounds, a steady-clock stale-input watchdog, latched emergency stop, and ROS graph smoke coverage. Fixes the generated SDF declaration for Humble's spawn_entity parser.
Validation: 22 Python tests and Ruff passed, followed by hosted ROS/Gazebo gate and navigation checks. The guarded navigation smoke run succeeded with a 0.2347 m final error against a 0.25 m tolerance. Command bounds are not a guarantee on measured physical speed; real actuator/process-failure watchdogs remain outside this simulation. Historical navigation measurements stay labeled as pre-gate evidence.