feat(hangar_sim): enable fuse velocity_decay to prevent drift after nav2 stops

[bkanator]

Summary

Enables `velocity_decay: 1.0` in `hangar_sim/config/fuse/fuse.yaml` to use the new parameter added in PickNikRobotics/fuse#34.

Fixes the fuse estimate drifting diagonally after a nav2 Objective completes and `platform_velocity_controller_nav2` deactivates. Tracked in PickNikRobotics/moveit_pro#18070.

Depends on PickNikRobotics/moveit_pro#19565 being merged first (Dockerfile bump that pulls in the new fuse binary with `velocity_decay` support).

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[coderabbitai]

No actionable comments were generated in the recent review. 🎉

ℹ️ Recent review info

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Configuration used: Organization UI

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Run ID: b13464c1-9668-4181-a7f9-e25dfa21bd79

📥 Commits

Reviewing files that changed from the base of the PR and between 21a9024 and dd22c53.

📒 Files selected for processing (1)

• src/hangar_sim/config/fuse/fuse.yaml

🚧 Files skipped from review as they are similar to previous changes (1)

• src/hangar_sim/config/fuse/fuse.yaml

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📝 Walkthrough

Summary by CodeRabbit

• New Features
  • Added configurable velocity decay parameter to mobile base motion control. This enables exponential velocity decay when odometry is silent, providing adjustable settings to control decay behavior and timeline. Users can disable this feature as needed for their specific use cases.

Walkthrough

This PR introduces a new velocity_decay: 1.0 configuration parameter to the mobile base motion model in the fusion configuration. The parameter controls the exponential decay rate of predicted velocity toward zero when the odometry source becomes silent or unavailable.

Changes

Motion Model Velocity Decay Configuration

Layer / File(s)	Summary
Velocity decay tuning parameter src/hangar_sim/config/fuse/fuse.yaml	Added velocity_decay: 1.0 parameter under mobile_base_motion configuration to control exponential velocity decay behavior when odometry is unavailable, with comments describing the effect.

🚥 Pre-merge checks | ✅ 4

✅ Passed checks (4 passed)

Check name	Status	Explanation
Description check	✅ Passed	The pull request description clearly describes the changes: enabling velocity_decay in fuse.yaml to fix drift issues after nav2 stops, with references to upstream PRs and tracked issues.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Human Review Check	✅ Passed	PR adds velocity_decay parameter to hangar_sim fuse config only; no auth, secrets, CI/CD changes, API modifications, behavior changes, or launch script changes.

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[coderabbitai]

Actionable comments posted: 1

🤖 Prompt for all review comments with AI agents

Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.

Inline comments:
In `@src/hangar_sim/config/fuse/fuse.yaml`:
- Around line 22-26: The new velocity_decay parameter in fuse.yaml may not be
supported by the installed fuse library; verify that PickNikRobotics/fuse#34 has
been merged and released, then pin or bump the required fuse package version in
the Dockerfile and dependency manifests (package.xml / rosdep keys) so the
runtime installs the release that adds velocity_decay, and confirm the
fixed_lag_smoother_node actually reads/validates the velocity_decay parameter
(search for fixed_lag_smoother_node and velocity_decay in the codebase and
update the node or wrapper to handle the parameter if missing).

🪄 Autofix (Beta)

Fix all unresolved CodeRabbit comments on this PR:

• Push a commit to this branch (recommended)
• Create a new PR with the fixes

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ℹ️ Review info

⚙️ Run configuration

Configuration used: Organization UI

Review profile: CHILL

Plan: Pro Plus

Run ID: 6858accb-009c-495f-a987-6c1239e76a56

📥 Commits

Reviewing files that changed from the base of the PR and between 6cc98a0 and 21a9024.

📒 Files selected for processing (1)

• src/hangar_sim/config/fuse/fuse.yaml

[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• ✅ humble: view HTML report — 35 passed
• ✅ jazzy: view HTML report — 35 passed

[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• ✅ humble: view HTML report — 35 passed
• ✅ jazzy: view HTML report — 35 passed

[bkanator]

PickNikRobotics/moveit_pro#19565 has merged — the new fuse binary with velocity_decay support is now in the Dockerfile. This PR is ready to merge. --brought to you by your friendly claude bot

stale