Fix sensors→control skipped when local planner is empty - #36
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FollowTheGapController declares no LOCAL_PLAN requirement and docs advertise end-to-end sensors→control, but sync/async executers and Control Step gated on local_planner and never recomputed commands. Allow control with plan=None. Co-authored-by: Majid Khonji <majid-khonji@users.noreply.github.com>
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Bug and impact
Selecting
FollowTheGapControllerwith an empty local planner (documented sensors→control composition) built a valid stack but never actuated:_last_cmdstayedNoneand the plant did not move. Manual Control Step also no-oped.Root cause
Sync/async executers and
_control_stephard-requiredlocal_planner is not Nonebefore recomputing control, even thoughFollowTheGapController.stack_requirementsonly needsLOCALIZATIONandcontrol(..., plan=None)already supports plan-free cruise/gap steering.Fix
plan=Noneif there is no local plannerworker_controland visualizer Control StepValidation
pytest test/c40_execution/test_c44_control_without_planner.py test/c40_execution/test_c42_sensor_snapshot.py test/c40_execution/test_c44_executer_fps.py— all passedlast_cmd=None(0 m motion); after fix FTG applies accel and advances ~19 m over 40 ticks