test.agent

name: test.agent
purpose: |
  A persistent “middle agent” for robot controller debugging: launch simulation + Nav2,
  publish/execute a fixed global path, evaluate tracking quality, and leave an auditable
  report even if the human (or chat) disconnects.

how_it_persists: |
  This agent runs inside a tmux session. You can disconnect at any time; processes and logs
  keep running. Re-attach later and read the generated Markdown report.

entrypoints:
  start: tools/test_agent/test_agent.sh start --controller pp
  attach: tools/test_agent/test_agent.sh attach
  status: tools/test_agent/test_agent.sh status
  stop: tools/test_agent/test_agent.sh stop
  report: tools/test_agent/test_agent.sh report

what_it_measures:
  - cross_track_error_rms_m
  - cross_track_error_p95_m
  - cross_track_error_max_m
  - distance_to_goal_m (over time)
  - average_speed_mps
  - completion_time_s (if goal reached)

notes:
  - Waypoint editor saves JSON/TXT in pp_controller segment JSON format (mm units). That is
    separate from Nav2 global path (nav_msgs/Path). No conflict: they serve different stacks.
  - For Nav2 path tracking, waypoint_editor publishes nav_msgs/Path (default topic: waypoint_path).