Sim benchmark report

• generated (UTC): 20260728T232348Z
• git commit: 15f6f09
• trials per world: 3
• goal order: pickup,dropoff,home
• wheel_mu: 1.0
• nav2 params: /home/michael/.claude/jobs/cbff1358/wt-icp-gate/mote_bringup/config/nav2_params.yaml
• ROS_DOMAIN_ID: 18

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)	19.2	0.2	18.9	19.5	1.3%
ATE rmse (m)	0.069	0.005	0.063	0.075	7.4%
ATE max (m)	0.134	0.021	0.104	0.150	15.9%
odom ATE rmse (m)	0.007	0.001	0.006	0.008	12.7%
odom ATE max (m)	0.020	0.008	0.011	0.029	37.6%
min clearance (m)	0.472	0.023	0.445	0.500	4.8%
mean clearance (m)	1.327	0.025	1.296	1.357	1.9%
linear jerk rms	24.88	3.00	21.72	28.92	12.1%
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)	9.67	0.04	9.61	9.70	0.4%

per-trial

| trial | goals ok | ATE rmse (m) | odom ATE (m) | min clr (m) | recoveries | aborts | | --- | --- | --- | --- | --- | --- | --- | | 0 | 3/3 | 0.075 | 0.006 | 0.500 | 0 | 0 | | 1 | 3/3 | 0.069 | 0.006 | 0.472 | 0 | 0 | | 2 | 3/3 | 0.063 | 0.008 | 0.445 | 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.