From a27c7147c371c0f2934dc4ed31918e56a190409c Mon Sep 17 00:00:00 2001 From: Matt Spencer Date: Sun, 2 Aug 2026 16:08:35 +0000 Subject: [PATCH] Update reference_timeout for physical robot. --- .../agv_pro_bringup/config/ros2_controllers.yaml | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/src/elephant_robotics/agv_pro_bringup/config/ros2_controllers.yaml b/src/elephant_robotics/agv_pro_bringup/config/ros2_controllers.yaml index 0054f27..1fc1e2f 100644 --- a/src/elephant_robotics/agv_pro_bringup/config/ros2_controllers.yaml +++ b/src/elephant_robotics/agv_pro_bringup/config/ros2_controllers.yaml @@ -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)