Update reference_timeout for physical robot.

2026-08-02 16:08:35 +00:00
parent e50d0e2c27
commit a27c7147c3
1 changed files with 6 additions and 0 deletions
@@ -31,6 +31,12 @@ mecanum_drive_controller:
    base_frame_id:  base_footprint
    enable_odom_tf: true

+    # How long a /cmd_vel (reference) command stays valid, in seconds. The
+    # controller default is 0.0, which treats every command as instantly expired
+    # so the controller halts between messages. 0.5 s holds the last command
+    # between messages (standard cmd_vel behaviour) so the base runs at speed.
+    reference_timeout: 0.5
+
    kinematics:
      # wheel_radius: height of wheel centre above ground from URDF joint origin
      # (base_footprint→base_link = 0.020 m + wheel joint z-offset ≈ 0.052 m = 0.072 m)