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xiaolefang-dm
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November 2, 2026 01:08
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The current cmd_vel controller derives velocity from the first path segment, so an odometry position or heading error does not change its command. This adds time-sampled trajectory feedforward with longitudinal/heading PID and lateral feedback, using the planner's camera-to-control-center offset. It implements the control-node PID item on the bounty board.
Pause, navigation deactivation, stale-path slowdown/stop, fixed straight reverse and robot speed limits remain in place. Missing/stale odometry and invalid poses stop output. Gains are ROS parameters, with tuning and CPU test commands in
docs/path_tracking.md.Validation: 24 tests pass in ROS 2 Humble/Python 3.10 with NumPy 1.26.1 and SciPy 1.15.3, including straight/curved kinematic recovery, the real node's acceleration/minimum-speed logic, camera offset, reverse, stale inputs and DDS stop-message delivery. The unchanged-path displacement regression fails on the current main controller and passes here. Full
tinynavlint and the new tests pass with Ruff 0.15.9; the quality workflow now uses that existinguv.lockversion rather than an unpinned tool download. A focused ROS CPU workflow runs the controller suite.Native Ubuntu amd64 validation at
4c7de92: 24 controller tests passed.