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TrackedVehicle system does unexpected movement on low turn commands. #2506

@ValeriiKoshelev

Description

@ValeriiKoshelev

Environment

  • OS Version: Ubuntu 22.04
  • Source or binary build? Source, gz-sim7.

Description

If you send command with zero linear component and small (<0.1) angular component, vehicle behaves in unexpected way.

Expected behavior: no movement or slow turn in place.
Observed behavior: slow linear motion.

Probably something wrong with edge case here: https://github.com/gazebosim/gz-sim/blame/007aa87cd0007c2bbe2887e79b3679070d7bc806/src/systems/tracked_vehicle/TrackedVehicle.cc#L689
Code looks same in gz-sim8, so probably reproducible in newer versions.

Steps to reproduce

Commands executed:

gz sim -r tracked_vehicle_simple.sdf
gz topic -t /model/simple_tracked/cmd_vel -m gz.msgs.Twist -p "linear: {x: 0.0}, angular: {z: 0.05}"

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