newton-nav-stack-test

name	newton-nav-stack-test
description	Validate the Newton + ROS Nav2 driving stack in a clean tmux session after bringup. Use when the user wants a repeatable navigation check in Newton sim, including health checks for the bridge/model/drive path and the lateral-shift golden test.

Newton Nav Stack Test

Use this after newton-sim-ros-startup has brought up a clean newton_sim session on one ROS domain.

Use This Skill For

• Standardizing Newton Nav2 validation after a restart
• Verifying the drive path before blaming the planner
• Running the lateral-shift "parking maneuver" golden test
• Checking that Foxglove has the robot, path, and drive diagnostics

Assumptions

• Canonical in-container workspace: /workspace/moleworks/ros2_ws
• Default ROS domain: 24
• Newton is already running in tmux
• Foxglove is already connected to the matching bridge

1) Health Checks First

Before sending a goal, verify the sim stack is complete:

export ROS_DOMAIN_ID=24
source /opt/ros/jazzy/setup.bash
source /workspace/moleworks/ros2_ws/install/local_setup.bash

timeout 10 bash -lc 'ros2 topic hz /clock'
timeout 15 bash -lc 'ros2 run tf2_ros tf2_echo map BASE_GRAV 2>&1' | head -20
ros2 topic list | rg '^/mole/(state|measurements|robot_description|joint_states|plan|cmd_vel_smoothed|actuator_commands)$'
ros2 node list | sort | uniq -d
ros2 topic info /mole/cmd_vel_smoothed -v
ros2 topic info /mole/actuator_commands -v

Expected result:

• /clock is live
• map -> BASE_GRAV resolves
• /mole/state, /mole/measurements, /mole/robot_description, /mole/joint_states exist
• no duplicate node names
• /mole/cmd_vel_smoothed has one publisher
• /mole/actuator_commands has one ackermann_drive_controller publisher and no stale extra publishers

If the CLI graph looks incomplete, also inspect the Foxglove bridge log pane. Treat the stack as alive only when Foxglove advertises the same topics.

2) Foxglove Checks

Use Foxglove to confirm:

• the robot model is visible
• /mole/plan is visible
• /mole/lookahead_point, /mole/curvature_lookahead_point, and /mole/lookahead_collision_arc are visible
• the red/ICR debug markers are not flipping before a goal is sent

If the robot is missing in Foxglove, the likely cause is missing robot_description or joint_states, not the bridge itself.

3) Golden Test

Run the standardized lateral-shift golden test:

export ROS_DOMAIN_ID=24
source /opt/ros/jazzy/setup.bash
source /workspace/moleworks/ros2_ws/install/local_setup.bash
python3 /workspace/moleworks/ros2_ws/src/moleworks_ros/mole_bringup/scripts/nav2_lateral_shift_golden.py \
  --robot-ns mole \
  --lateral-m 1.0 \
  --timeout-sec 180.0

This sends a goal offset in +y in the robot base frame so the excavator must execute a parking-style maneuver instead of a trivial straight segment.

4) What To Watch During The Test

Watch these topics together:

ros2 topic echo /mole/plan --once
ros2 topic info /mole/cmd_vel_smoothed -v
ros2 topic info /mole/actuator_commands -v

In Foxglove, watch:

• /mole/plan
• /mole/plan_smoothed
• /mole/cmd_vel_nav
• /mole/cmd_vel_smoothed
• /mole/actuator_commands

5) Failure Triage

If the robot does not move:

• If Newton exits, inspect the newton pane first. Do not debug Nav2 before the bridge is stable.
• If /mole/plan exists but /mole/actuator_commands does not, debug Ackermann/controller bringup.
• If /mole/cmd_vel_smoothed changes sign rapidly while the path barely changes, debug planner churn or path commitment.
• If /mole/actuator_commands is active but the chassis barely moves, debug wheel contact or command-mode mismatch below Nav2.

6) Pass Criteria

The test passes when:

• Newton stays alive for the full run
• the robot is visible in Foxglove
• the lateral-shift goal produces a valid path
• /mole/cmd_vel_smoothed and /mole/actuator_commands remain single-instance
• the excavator completes the maneuver without planner flip-flopping or bridge resets