16.7.4

Description

Abstract

Fixed DoNothingBehavior to initialize twist and accel values to zero when not in FollowTrajectory state, ensuring proper StandStillDuration calculations for stopped entities.

Background

Previously, when DoNothingBehavior was not following a trajectory, the twist and accel values were not being reset to zero. This caused issues with StandStillDuration calculations, as the system would incorrectly measure standstill duration even when the entity appeared to be stopped but still had non-zero
velocity values internally.

Details

• Modified the update method in DoNothingBehavior plugin to explicitly set twist and accel to zero when in "do_nothing" state
• Used geometry_msgs::build functions for consistent initialization with existing code style

References

N/A

Destructive Changes

N/A

Known Limitations

N/A

🤖 Generated with Claude Code

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