0416c81.bug

%YAML 1.1
---
id: 0416c81
title: Robot Getting Stuck When Auto-docking
description: >
  Kobuki is a mobile robot base that is used mainly for version 2
  of Turtlebot, but there are some other uses for it with heavier
  payloads.
  The movement speeds were hard-coded for the auto-docking
  algorithm, and worked well for regular Kobuki and Turtlebot, but
  were too slow for heavier robots, causing them to get stuck.
  To solve this issue, the minimum speed limits had to be
  configurable.
classification: "Wrong behavior (no CWE) #CWE-344 #PHYSICAL"
keywords: ['hard-coded values', 'auto-docking', 'speed']
system: kobuki
severity: minor-issue
links: []
bug:
  phase: runtime
  specificity: robotics-specific
  architectural-location: application-specific code
  application: auto-docking
  task: auto-docking
  subsystem: specific application component
  package: yujinrobot/kobuki/kobuki_auto_docking
  languages: N/A
  detected-by: developer
  reported-by: contributor
  issue: https://github.com/yujinrobot/kobuki/issues/262
  time-reported: 2013-05-24T00:29:17Z
  reproducibility: sometimes
  trace: null
fix:
  pull-request: null
  fix-in:
    - kobuki_auto_docking/include/kobuki_auto_docking/dock_drive.hpp
    - kobuki_auto_docking/src/auto_docking_ros.cpp
    - kobuki_auto_docking/src/dock_drive.cpp
  languages:
    - C++
  time: 2013-05-24 (07:28)
  commits:
    - repo: https://github.com/yujinrobot/kobuki
      hash: 0416c81e5d08466477c5806443a580a142d0d465
      stats:
        total:
          insertions: 27
          deletions: 1
          lines: 28
          files: 3
        files:
          kobuki_auto_docking/include/kobuki_auto_docking/dock_drive.hpp:
            insertions: 10
            deletions: 0
            lines: 10
          kobuki_auto_docking/src/auto_docking_ros.cpp:
            insertions: 9
            deletions: 0
            lines: 9
          kobuki_auto_docking/src/dock_drive.cpp:
            insertions: 8
            deletions: 1
            lines: 9
fault-codes:
  - MODELS:ROBOT
  - PROGRAMMING:MISSING-FEATURE
failure-codes:
  - SOFTWARE:NONE
  - SYSTEM:BEHAVING-INCORRECTLY