feat(hangar_sim): enable fuse velocity_decay to prevent drift after nav2 stops

[bkanator]

Summary

Enables `velocity_decay: 1.0` in `hangar_sim/config/fuse/fuse.yaml` to use the new parameter added in PickNikRobotics/fuse#34.

Fixes the fuse estimate drifting diagonally after a nav2 Objective completes and `platform_velocity_controller_nav2` deactivates. Tracked in PickNikRobotics/moveit_pro#18070.

Depends on PickNikRobotics/fuse#34 being merged and the apt package bumped in the Dockerfile first.

Claude agent checks

• code-reviewer
• test-runner
• platform-architect-bot

[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• ✅ humble: view HTML report — 35 passed
• ✅ jazzy: view HTML report — 35 passed

[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• ✅ humble: view HTML report — 35 passed
• ✅ jazzy: view HTML report — 35 passed

[coderabbitai]

📝 Walkthrough

Summary by CodeRabbit

• Chores
  • Updated motion model configuration to include a velocity decay parameter, providing enhanced control over velocity prediction behavior during periods of odometry inactivity.

Walkthrough

This PR introduces a new velocity_decay: 1.0 configuration parameter to the mobile base motion model in the fusion configuration. The parameter controls the exponential decay rate of predicted velocity toward zero when the odometry source becomes silent or unavailable.

Changes

Motion Model Velocity Decay Configuration

Layer / File(s)	Summary
Velocity decay tuning parameter src/hangar_sim/config/fuse/fuse.yaml	Added velocity_decay: 1.0 parameter under mobile_base_motion configuration to control exponential velocity decay behavior when odometry is unavailable, with comments describing the effect.

🚥 Pre-merge checks | ✅ 4

✅ Passed checks (4 passed)

Check name	Status	Explanation
Description check	✅ Passed	The pull request description clearly explains the change (enabling velocity_decay parameter), the problem it solves (fuse drift after nav2 stops), and its dependencies, all directly related to the changeset.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Human Review Check	✅ Passed	PR adds velocity_decay parameter to hangar_sim fuse.yaml config only—low-risk simulation config change, not auth/billing/migrations/CI-CD/infra/API changes.

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[coderabbitai]

Actionable comments posted: 1

🤖 Prompt for all review comments with AI agents

Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.

Inline comments:
In `@src/hangar_sim/config/fuse/fuse.yaml`:
- Around line 22-26: The new velocity_decay parameter in fuse.yaml may not be
supported by the installed fuse library; verify that PickNikRobotics/fuse#34 has
been merged and released, then pin or bump the required fuse package version in
the Dockerfile and dependency manifests (package.xml / rosdep keys) so the
runtime installs the release that adds velocity_decay, and confirm the
fixed_lag_smoother_node actually reads/validates the velocity_decay parameter
(search for fixed_lag_smoother_node and velocity_decay in the codebase and
update the node or wrapper to handle the parameter if missing).

🪄 Autofix (Beta)

Fix all unresolved CodeRabbit comments on this PR:

• Push a commit to this branch (recommended)
• Create a new PR with the fixes

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ℹ️ Review info

⚙️ Run configuration

Configuration used: Organization UI

Review profile: CHILL

Plan: Pro Plus

Run ID: 6858accb-009c-495f-a987-6c1239e76a56

📥 Commits

Reviewing files that changed from the base of the PR and between 6cc98a0 and 21a9024.

📒 Files selected for processing (1)

• src/hangar_sim/config/fuse/fuse.yaml

[coderabbitai]

⚠️ Potential issue | 🟠 Major | 🏗️ Heavy lift

Verify that the fuse library version supports velocity_decay before merging.

The PR objectives state this depends on PickNikRobotics/fuse#34 being merged and the apt package being bumped in the Dockerfile. If the underlying fuse_models library doesn't yet support the velocity_decay parameter, this configuration will either:

• Fail with a parameter validation error at node startup, or
• Be silently ignored, leaving the drift issue unresolved

Before merging, confirm that:

1. Add velocity_decay to Omnidirectional3D to prevent drift when odom goes silent fuse#34 has been merged and released
2. The Dockerfile or dependency declarations (e.g., package.xml, rosdep keys) pin or require the updated fuse version
3. The fixed_lag_smoother_node will validate and use this parameter

#!/bin/bash
# Description: Check for fuse library version requirements and velocity_decay parameter usage

# Check if Dockerfile specifies fuse version requirements
echo "=== Checking Dockerfile for fuse version ==="
fd -t f -e Dockerfile -x rg -n "fuse"

# Check package.xml files for fuse dependencies
echo -e "\n=== Checking package.xml for fuse dependencies ==="
fd -t f "package.xml" -x rg -n -A2 "fuse"

# Search for other references to velocity_decay in the codebase
echo -e "\n=== Searching for velocity_decay references ==="
rg -n "velocity_decay"

Is the velocity_decay parameter supported in the fuse ROS2 library, and in which version was it introduced?

🤖 Prompt for AI Agents

Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.

In `@src/hangar_sim/config/fuse/fuse.yaml` around lines 22 - 26, The new
velocity_decay parameter in fuse.yaml may not be supported by the installed fuse
library; verify that PickNikRobotics/fuse#34 has been merged and released, then
pin or bump the required fuse package version in the Dockerfile and dependency
manifests (package.xml / rosdep keys) so the runtime installs the release that
adds velocity_decay, and confirm the fixed_lag_smoother_node actually
reads/validates the velocity_decay parameter (search for fixed_lag_smoother_node
and velocity_decay in the codebase and update the node or wrapper to handle the
parameter if missing).

[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• ✅ humble: view HTML report — 35 passed
• ✅ jazzy: view HTML report — 35 passed