Use same FP limits for TrackedVehicle to avoid self-moving

[ntfshard]

🦟 Bug fix

Fixes #2506

Summary

Using the same constants for checking against zero here to significantly reduce cases when system behaves in unexpected way.
Still for a solid solution we should consider a refactoring a whole algorithm.

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
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[peci1]

LGTM.

I guess the constants could even be a bit higher unless you simulate mm-sized robots. The constants you suggest mean that any motion command above 0.000001 m/s or 0.000001 rad/s is considered non-straight motion. I guess no reasonably sized robot would react to a micrometer/sec command. On the other hand, I don't see anything really problematic practically with this constant.

[peci1]

Could you please post the result of a test where you instruct the robot with e.g. 2e-6 linear and angular velocities?

[ntfshard]

I guess I can do it tomorrow, it's too late here, sorry. Maybe @iandresolares can provide, if he tested it

And I guess this constant change is not related to any physical properties of a robot, it's just about math properties of this equations, as mentioned in initial msg

[ntfshard]

Could you please post the result of a test where you instruct the robot with e.g. 2e-6 linear and angular velocities?

Yes, sure. It just standing still
ubuntu22-screen0.webm

[peci1]

Great, thanks! Now I'm more sure this PR will not have any bad side effects.

[azeey]

@osrf-jenkins run tests please

[ntfshard]

Can we have some conclusion about this hotfix? I mean it still affect us and we still need a backport to previous version (gz-sim7) tbh

[codecov]

Codecov Report

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Additional details and impacted files

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