cristhian
56b86699bd
The loop owns the one decision this node exists to make: whether a velocity reaches the arm this tick, and from whom. An arm under a velocity command keeps moving until told otherwise, so the question is never whether to start but whether anything has happened that means it must stop. Every path through _wanted_velocity that is not an owner actively asking for motion returns a stop, so a case nobody thought of fails by halting rather than by carrying on. The default has to be still. Three ways a source goes away, all ending in the same place. It goes quiet, and the watchdog fires after JOG_TTL_S. It goes away outright — the pad unplugged, the last browser gone — and the arm stops at once, without waiting out the timer, because an unplugged pad is not a centred pad. Or the process itself goes away, and one all-zero velocity is sent before it does: a motion lives in the controller, not here. The stop is sent once, not every tick. A stream of zeroes would keep the arm node believing a jog is live and hold robot_state at moving forever. E-STOP is not gated on the lease, from either source. Somebody reaching for the stop is the one moment when asking who owns the arm is the wrong question.