fix: publish Twist instead of TwistStamped, improve keyboard HUD#10
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spomichter merged 1 commit intomainfrom Mar 6, 2026
Merged
fix: publish Twist instead of TwistStamped, improve keyboard HUD#10spomichter merged 1 commit intomainfrom
spomichter merged 1 commit intomainfrom
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…ard overlay - Change LCM message type from TwistStamped to Twist (matches DimOS convention) - Channel: /cmd_vel#geometry_msgs.Twist (was geometry_msgs.TwistStamped) - Twist encoding: 56 bytes (hash + 6 doubles), no Header overhead - Fingerprint hash: 0x2e7c07d7cdf7e027 (verified against Python LCM reference) Keyboard overlay improvements: - Dark semi-transparent background panel (HUD style) - Visual key grid showing Q/W/E/A/S/D with active state highlighting - Green highlight on pressed keys, dim when idle - STOP bar (space) with red flash on e-stop - Shift speed indicator - Always visible (dims when no keys active) - Fix egui deprecation: Rounding -> CornerRadius, .rounding() -> .corner_radius() All 27 tests pass.
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fixes type mismatch that prevented keyboard controls from moving the robot.
changes
LCM type fix:
geometry_msgs/Twistinstead ofTwistStampedon/cmd_vel0x2e7c07d7cdf7e027(verified against python lcm reference)keyboard overlay:
all 27 tests pass.