yiliao2026/test_results/reach_fail_debug_20260722_163934.json

{
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    "output_path": "/home/sunrise/yiliao_ws/test_results/reach_fail_debug_20260722_163934.json"
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  "metrics": {
    "sample_count": 298,
    "goal_count": 5,
    "plan_count": 5,
    "planner_status_count": 15,
    "tracker_status_count": 5,
    "min_distance_to_goal": 1.1043541046029437,
    "min_distance_to_plan_end": 1.1438855302314723,
    "final_distance_to_goal": 4.30482511794916,
    "final_distance_to_plan_end": 4.317954888033011,
    "final_plan_end_to_goal": 0.09775775438188386,
    "final_plan_end_yaw_to_goal": 5.551115123125783e-17,
    "max_abs_cmd_linear": 0.0,
    "max_abs_cmd_angular": 0.0,
    "max_abs_ackermann_speed": 0.0,
    "max_abs_steering_angle": 0.0,
    "tf_failures": 0,
    "saw_plan_ok": true,
    "saw_plan_failed": false,
    "saw_goal_reached": false,
    "saw_align_goal_yaw": false,
    "saw_no_recent_odom": false
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  "diagnostic_hints": [
    "planner 的 goal_xy_tolerance 大于 tracker 的 goal_tolerance；planner 可能发布一个离原始目标较远的路径终点。",
    "planner 的 goal_yaw_tolerance 大于 tracker 的 goal_yaw_tolerance；planner 认为合格的终点 yaw，tracker 可能继续调整。",
    "tracker 的 min_linear_speed 数值大于 goal_tolerance；接近终点时可能仍以较高速度越过目标。",
    "最新 /plan 的终点到 /goal_pose 的距离大于 tracker 到点半径；tracker 跟随 /plan 时不会到达你原始输入的目标点。"
  ],
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