feat(hangar_sim): refine localization in place, with a calibrated fit-to-map gate - #933

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bkanator wants to merge 21 commits into

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fm/refine-localization-port

Commits on Sep 10, 2026

feat(hangar_sim): add localization Behaviors and the in-place refinement
bkanator
committed
7f4cce0
refactor(hangar_sim): one refinement subtree, referenced twice
bkanator
committed
b421fa5
fix(hangar_sim): illegal "--" in an XML comment, and correct the injection claim
bkanator
committed
54a9a70
fix(hangar_sim_behaviors): drop the unused worst-case ring helper
bkanator
committed
6db6b0c
no-mistakes(review): gate on the projected seed; fix cache key, remaps, docs
bkanator
committed
e5870af
fix(hangar_sim_behaviors): make the package link, and drop a fragile tf2 path

bkanator
and
claude
committed
7659695
no-mistakes(review): relabel the click instead of transforming through unseeded map->odom
bkanator
committed
3e84e68
fix(hangar_sim): correct the bootstrap story and calibrate the gate on hangar_map

bkanator
and
claude
committed
51e6522
feat(hangar_sim): let the operator set heading with a 6 DOF marker

bkanator
and
claude
committed
821f33e
no-mistakes(review): un-skip refine objective with test-scoped gate override; widen alias sweep; correct localization comments
bkanator
committed
f837211
no-mistakes(review): resolve override namespace from XML; refresh alias table and gate docs
bkanator
committed
38a6698
no-mistakes(review): fold offset rings into calibration band; fix threshold guidance
bkanator
committed
479230a
no-mistakes(review): guard nav cold-boot seed; correct calibration band and coverage claims
bkanator
committed
438e437
no-mistakes(review): localize in place when the filter is unseeded
bkanator
committed
e8d6802
no-mistakes(review): gate cold-boot localize fallback on IsUserAvailable
bkanator
committed
fbc188e
no-mistakes(review): invert no-UI guard; name real IsUserAvailable topic; harden yaw test
bkanator
committed
ce803ab

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feat(hangar_sim): refine localization in place, with a calibrated fit-to-map gate - #933

feat(hangar_sim): refine localization in place, with a calibrated fit-to-map gate#933
bkanator wants to merge 21 commits into
mainfrom
fm/refine-localization-port

Commits on Sep 10, 2026

feat(hangar_sim): add localization Behaviors and the in-place refinement

refactor(hangar_sim): one refinement subtree, referenced twice

fix(hangar_sim): illegal "--" in an XML comment, and correct the injection claim

fix(hangar_sim_behaviors): drop the unused worst-case ring helper

no-mistakes(review): gate on the projected seed; fix cache key, remaps, docs

fix(hangar_sim_behaviors): make the package link, and drop a fragile tf2 path

no-mistakes(review): relabel the click instead of transforming through unseeded map->odom

fix(hangar_sim): correct the bootstrap story and calibrate the gate on hangar_map

feat(hangar_sim): let the operator set heading with a 6 DOF marker

no-mistakes(review): un-skip refine objective with test-scoped gate override; widen alias sweep; correct localization comments

no-mistakes(review): resolve override namespace from XML; refresh alias table and gate docs

no-mistakes(review): fold offset rings into calibration band; fix threshold guidance

no-mistakes(review): guard nav cold-boot seed; correct calibration band and coverage claims

no-mistakes(review): localize in place when the filter is unseeded

no-mistakes(review): gate cold-boot localize fallback on IsUserAvailable

no-mistakes(review): invert no-UI guard; name real IsUserAvailable topic; harden yaw test

Commits on Sep 11, 2026

no-mistakes(review): give each rejection its own reason; guard relabel input frame

no-mistakes(review): state observed symptoms, not unestablished causes, in failure messages

no-mistakes(review): record calibration history; drop redundant rejection hop; sync amcl comment

no-mistakes(review): reject non-free alias candidates; correct two stale claims

refactor(hangar_sim_behaviors): drop the offline calibration tool