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Document controller transform staleness threshold #954

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Document controller transform staleness threshold #954

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9 changes: 9 additions & 0 deletions ...ion_and_development/configuration_guide/core_servers/controller_server/index.md
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Expand Up @@ -20,6 +20,14 @@ Type: `double` Default: `0.3`

: The timeout value (seconds) for the costmap to be fully updated before a control effort can be computed.

### **`transform_staleness_threshold`**

Type: `double` Default: `0.0`

: Maximum allowed age (seconds) of the transform used to obtain the robot pose in the local costmap's global frame.
If the transform is older than this threshold, the controller server reports a transform error instead of computing a velocity command.
The check is enabled for positive values; values less than or equal to `0.0` disable it.

### **`use_realtime_priority`**

Type: `bool` Default: `false`
Expand Down Expand Up @@ -264,6 +272,7 @@ controller_server:
ros__parameters:
controller_frequency: 20.0
costmap_update_timeout: 0.3
transform_staleness_threshold: 1.0

@SteveMacenski SteveMacenski Aug 25, 2026

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Suggested change
transform_staleness_threshold: 1.0
transform_staleness_threshold: 0.0

Please copy paste these to start off with, setting this to something that low is not a sane general default I don't think

@nirwester nirwester Aug 26, 2026

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The default is 0, these are just suggestions/examples, right? It's the same default value as AMCL's transform_tolerance, so 1.0 or a tiny bit more is what I'd set this to unless dealing with a very laggy system. Why would we suggest to have no check? :)

@SteveMacenski SteveMacenski Aug 26, 2026

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I think increasing this then, I think 1.0 would trip sometimes and be an annoying ghost in the system for users. How about 3.0?

min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5
min_theta_velocity_threshold: 0.001
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