@mcmurrer: A delivered motion command can still be too old to use. This original Kira Labs lesson follows a hypothetical rule: fresh usable command → accepted; silence → expired; stale replay → rejected. A heartbeat is not fresh motion intent. Sequence, session, cancellation, and deliberate rearm rules are additional application policy, not claimed ROS controller defaults. ROS 2's Jazzy diff_drive_controller documents a command timeout. Its 0.5-second default is not a universal safe timeout. A zero-motion request does not prove a physical stop, and an ordinary software watchdog is not an emergency stop. Reset and restart are separate decisions. Educational concept only: no built Kira hardware, validated stop distance, safety rating, or demonstrated safety functionality is claimed. Original AI-assisted diagrams and my authorized AI-generated narration, synthesized locally. Primary sources: ROS Jazzy timeout documentation: https://control.ros.org/jazzy/doc/ros2_controllers/diff_drive_controller/doc/userdoc.html ROS Jazzy implementation: https://github.com/ros-controls/ros2_controllers/blob/jazzy/diff_drive_controller/src/diff_drive_controller.cpp ROS clock assumptions: https://design.ros2.org/articles/clock_and_time.html ROS liveliness versus message lifespan: https://design.ros2.org/articles/qos_deadline_liveliness_lifespan.html HSE L22, printed pp. 43–50: https://www.hse.gov.uk/pubns/priced/l22.pdf Emergency-stop reset principle, Schedule 2 §1.2.4.3: https://www.legislation.gov.uk/uksi/2008/1597/schedule/2 OSHA robot safety guidance: https://www.osha.gov/otm/section-4-safety-hazards/chapter-4 #KiraLabs #Robotics #ROS2 #RobotSoftware #EngineeringEducation

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