remove gazebo tick counter

Author: aquintan4

Industrial/gz_noisy_odometry/include/gz_noisy_odometry/NoisyOdometryPlugin.hpp

@@ -96,10 +96,6 @@ namespace custom_plugins
     // Models imperfect wheel-wall contact (small perpendicular micro-displacements).
     double lateral_slip_ratio_{0.2};
 
-    // Consecutive simulation ticks the robot must appear blocked before slip
-    // activates, and the counter resets immediately on resumed motion.
-    int blocked_hysteresis_ticks_{3};
-    int blocked_ticks_{0};
   };
 }
 

Industrial/gz_noisy_odometry/src/gz_noisy_odometry/NoisyOdometryPlugin.cpp

@@ -45,10 +45,9 @@ namespace custom_plugins
     alpha3_ = _sdf->Get<double>("alpha3", gaussian_noise_coeff_).first;
     alpha4_ = _sdf->Get<double>("alpha4", gaussian_noise_coeff_).first;
 
-    slip_factor_               = _sdf->Get<double>("slip_factor",               0.02).first;
-    block_ratio_threshold_     = _sdf->Get<double>("block_ratio_threshold",     0.15).first;
-    lateral_slip_ratio_        = _sdf->Get<double>("lateral_slip_ratio",        0.20).first;
-    blocked_hysteresis_ticks_  = _sdf->Get<int>   ("blocked_hysteresis_ticks", 3   ).first;
+    slip_factor_           = _sdf->Get<double>("slip_factor",           0.02).first;
+    block_ratio_threshold_ = _sdf->Get<double>("block_ratio_threshold", 0.15).first;
+    lateral_slip_ratio_    = _sdf->Get<double>("lateral_slip_ratio",    0.20).first;
 
     gz_node_.Subscribe(gz_cmd_vel_topic_, &NoisyOdometryPlugin::OnCmdVel, this);
 
@@ -132,19 +131,15 @@ namespace custom_plugins
     // Ratio-based detection: blocked when a commanded axis achieves less than
     // block_ratio_threshold_ of the expected increment. More robust than a fixed
     // absolute threshold, which can misfire on slow robots or tiny commands.
+    // Single-tick detection (no hysteresis): the physics engine makes the robot
+    // bounce on alternate ticks against a wall, so any multi-tick accumulator
+    // would never trigger.
     const bool is_commanded    = std::abs(trans_cmd) > 1e-4 || std::abs(delta_rot_cmd) > 1e-4;
     const bool linear_stalled  = std::abs(trans_cmd)     > 1e-4 &&
                                   trans_true              < block_ratio_threshold_ * std::abs(trans_cmd);
     const bool angular_stalled = std::abs(delta_rot_cmd) > 1e-4 &&
                                   std::abs(delta_yaw_true) < block_ratio_threshold_ * std::abs(delta_rot_cmd);
-    const bool blocked_raw     = is_commanded && (linear_stalled || angular_stalled);
-
-    // Hysteresis: require several consecutive blocked detections before
-    // activating slip, and reset immediately when motion resumes.
-    blocked_ticks_ = blocked_raw
-      ? std::min(blocked_ticks_ + 1, blocked_hysteresis_ticks_)
-      : 0;
-    const bool is_blocked = (blocked_ticks_ >= blocked_hysteresis_ticks_);
+    const bool is_blocked      = is_commanded && (linear_stalled || angular_stalled);
 
     const double trans    = is_blocked ? trans_cmd    * slip_factor_ : trans_true;
     const double delta_yaw = is_blocked ? delta_rot_cmd * slip_factor_ : delta_yaw_true;