feat(hangar_sim): navigate on fuse's estimate instead of ground truth - #973

Open

bkanator wants to merge 13 commits into

mainfrom

fm/fuse-rebase-remeasure

Commits on Sep 19, 2026

feat(hangar_sim): run navigation on fuse's estimate instead of ground truth

bkanator
and
claude
committed
ebfe2bd
docs(agents): record the sim-rate, RTF and headless-Objective facts this task established

bkanator
and
claude
committed
2a18578
docs(agents): the CLI pins the base image; Dockerfile's rolling tag is a red herring
bkanator
committed
2384e8b
docs(hangar_sim): correct what controller_server's odom_topic actually drives
bkanator
committed
8d0ca41
docs(hangar_sim): cut the fuse and nav2 comments to one line each
bkanator
committed
49fcfee
docs(hangar_sim): trim the odom_world_drift comments
bkanator
committed
c191b8c
fix(hangar_sim): let nav2 fall back to ground-truth odometry when fuse is off
bkanator
committed
409e188
fix(hangar_sim): rewrite odom_topic where nav2's nodes are actually created
bkanator
committed
7ae548a
docs(agents): a RewrittenYaml rewrite only reaches its own launch file's nodes
bkanator
committed
37b9453
fix(hangar_sim): difference fuse's estimate against truth at its own stamp
bkanator
committed
a26b9a1
docs(hangar_sim): tighten the comments for review
bkanator
committed
19dd2ce
style(hangar_sim): clang-format odom_world_drift
bkanator
committed
59b687a
fix(hangar_sim): drop the cached estimate when sim time rewinds
bkanator
committed
f0319f5