Sim benchmark report

• generated (UTC): 20260728T231142Z
• git commit: 15f6f09
• trials per world: 3
• goal order: pickup,dropoff,home
• wheel_mu: 1.0
• nav2 params: /home/michael/.claude/jobs/cbff1358/wt-baseline/mote_bringup/config/nav2_params.yaml
• ROS_DOMAIN_ID: 67

mote_world.sdf

• map revision: 20260707T234935
• map: /home/michael/Projects/mote/mote_simulation/sim_home/sites/mote_world/floors/ground/map/map.yaml
• successful trials: 3/3

metric	mean	std	min	max	CV
goal success rate	1.000	0.000	1.000	1.000	0.0%
time-to-goal mean (s)	22.4	4.1	19.1	28.2	18.4%
ATE rmse (m)	0.436	0.521	0.064	1.173	119.5%
ATE max (m)	0.869	1.028	0.138	2.323	118.4%
odom ATE rmse (m)	0.009	0.002	0.007	0.012	25.7%
odom ATE max (m)	0.026	0.005	0.020	0.033	20.1%
min clearance (m)	0.456	0.010	0.448	0.470	2.2%
mean clearance (m)	1.267	0.098	1.129	1.340	7.7%
linear jerk rms	27.91	3.79	23.33	32.61	13.6%
direction reversals	0.0	0.0	0.0	0.0	—
recoveries total	0.0	0.0	0.0	0.0	—
aborts	0.0	0.0	0.0	0.0	—
est path length (m)	12.10	3.57	9.56	17.14	29.5%

per-trial

| trial | goals ok | ATE rmse (m) | odom ATE (m) | min clr (m) | recoveries | aborts | | --- | --- | --- | --- | --- | --- | --- | | 0 | 3/3 | 0.072 | 0.008 | 0.450 | 0 | 0 | | 1 | 3/3 | 0.064 | 0.007 | 0.470 | 0 | 0 | | 2 | 3/3 | 1.173 | 0.012 | 0.448 | 0 | 0 |

Notes

• Localization error is ATE (truth vs estimate) after a rigid SE(2) alignment — the SLAM map frame and the Gazebo world frame do not share a fixed transform, so alignment is required before differencing.
• Ground truth is the robot's true pose bridged from Gazebo's PosePublisher (/model/mote/pose, gz.msgs.Pose → PoseStamped).
• Recovery counts are distinct goal IDs seen on the behavior-server action status topics (/spin, /backup, /drive_on_heading, /wait) — a best-effort proxy for how often Nav2 recovered.
• CV = coefficient of variation (std/mean); the run-to-run variance to weigh when comparing two configs.