temporary storage 7/9/2026 20:41

plugins/back_up_recovery.cpp

@@ -22,6 +22,7 @@ namespace
 {
 constexpr double kDefaultBackupDistance = 0.5;  // m.
 constexpr double kDefaultLinearSpeed = 0.1;     // m/s.
+constexpr double kDefaultControlPeriod = 0.1;   // s per update tick.
 }  // namespace
 
 /**
@@ -48,6 +49,7 @@ protected:
     robot::NodeHandle private_nh("~/" + name_);
     private_nh.param("backup_distance", default_backup_distance_, kDefaultBackupDistance);
     private_nh.param("linear_speed", default_linear_speed_, kDefaultLinearSpeed);
+    private_nh.param("control_period", control_period_, kDefaultControlPeriod);
     private_nh.param("require_costmap", require_costmap_, false);
 
     if (!std::isfinite(default_backup_distance_) || default_backup_distance_ <= 0.0)
@@ -62,6 +64,12 @@ protected:
                          name_.c_str());
       default_linear_speed_ = kDefaultLinearSpeed;
     }
+    if (!std::isfinite(control_period_) || control_period_ <= 0.0)
+    {
+      robot::log_warning("[recovery_core] Invalid control_period for '%s'; using 0.1 s.",
+                         name_.c_str());
+      control_period_ = kDefaultControlPeriod;
+    }
   }
 
   recovery_core::RecoveryResult onStart(const recovery_core::RecoveryGoal& goal) override
@@ -89,7 +97,7 @@ protected:
         .withMessage("backup start");
   }
 
-  recovery_core::RecoveryResult onUpdate(double dt) override
+  recovery_core::RecoveryResult onUpdate() override
   {
     if (traveled_distance_ >= backup_distance_)
     {
@@ -98,8 +106,8 @@ protected:
 
     robot_geometry_msgs::Twist command;
     command.linear.x = -std::abs(linear_speed_);
-    traveled_distance_ =
-        std::min(backup_distance_, traveled_distance_ + std::abs(command.linear.x) * dt);
+    traveled_distance_ = std::min(
+        backup_distance_, traveled_distance_ + std::abs(command.linear.x) * control_period_);
 
     if (traveled_distance_ >= backup_distance_)
     {
@@ -124,6 +132,7 @@ private:
 
   double default_backup_distance_ = kDefaultBackupDistance;
   double default_linear_speed_ = kDefaultLinearSpeed;
+  double control_period_ = kDefaultControlPeriod;
   bool require_costmap_ = false;
 
   double backup_distance_ = kDefaultBackupDistance;

plugins/clear_costmap_recovery.cpp

@@ -87,7 +87,7 @@ protected:
     return recovery_core::RecoveryResult::Running().withMessage("clear costmap start");
   }
 
-  recovery_core::RecoveryResult onUpdate(double /*dt*/) override
+  recovery_core::RecoveryResult onUpdate() override
   {
     bool ok = true;
     if (affected_maps_ == "global" || affected_maps_ == "both")

plugins/regen_path_recovery.cpp

@@ -40,7 +40,7 @@ protected:
         .withMessage("regen path start");
   }
 
-  recovery_core::RecoveryResult onUpdate(double /*dt*/) override
+  recovery_core::RecoveryResult onUpdate() override
   {
     const auto* global_path = ctx().global_path;
     if (global_path == nullptr || global_path->empty())

plugins/rotate_recovery.cpp

@@ -22,6 +22,7 @@ namespace
 {
 constexpr double kDefaultTargetAngle = 1.57079632679;  // pi/2 rad.
 constexpr double kDefaultAngularSpeed = 0.4;           // rad/s.
+constexpr double kDefaultControlPeriod = 0.1;          // s per update tick.
 }  // namespace
 
 /**
@@ -48,6 +49,7 @@ protected:
     robot::NodeHandle private_nh("~/" + name_);
     private_nh.param("target_angle", default_target_angle_, kDefaultTargetAngle);
     private_nh.param("angular_speed", default_angular_speed_, kDefaultAngularSpeed);
+    private_nh.param("control_period", control_period_, kDefaultControlPeriod);
 
     if (!std::isfinite(default_target_angle_) || std::abs(default_target_angle_) <= 0.0)
     {
@@ -61,6 +63,12 @@ protected:
                          name_.c_str());
       default_angular_speed_ = kDefaultAngularSpeed;
     }
+    if (!std::isfinite(control_period_) || control_period_ <= 0.0)
+    {
+      robot::log_warning("[recovery_core] Invalid control_period for '%s'; using 0.1 s.",
+                         name_.c_str());
+      control_period_ = kDefaultControlPeriod;
+    }
   }
 
   recovery_core::RecoveryResult onStart(const recovery_core::RecoveryGoal& goal) override
@@ -83,7 +91,7 @@ protected:
         .withMessage("rotate start");
   }
 
-  recovery_core::RecoveryResult onUpdate(double dt) override
+  recovery_core::RecoveryResult onUpdate() override
   {
     const double target = std::abs(target_angle_);
 
@@ -94,7 +102,8 @@ protected:
 
     robot_geometry_msgs::Twist command;
     command.angular.z = std::copysign(angular_speed_, target_angle_);
-    rotated_angle_ = std::min(target, rotated_angle_ + std::abs(command.angular.z) * dt);
+    rotated_angle_ =
+        std::min(target, rotated_angle_ + std::abs(command.angular.z) * control_period_);
 
     if (rotated_angle_ >= target)
     {
@@ -118,6 +127,7 @@ private:
 
   double default_target_angle_ = kDefaultTargetAngle;
   double default_angular_speed_ = kDefaultAngularSpeed;
+  double control_period_ = kDefaultControlPeriod;
 
   double target_angle_ = kDefaultTargetAngle;
   double angular_speed_ = kDefaultAngularSpeed;