Misc cleanups: rviz display, caster height, rename clean task#12
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- mote.rviz: show the SLAM pose graph, tune laser intensity range and the default top-down view scale - URDF: derive caster_z from wheel_radius/axle_z so the caster sits at the true ground-contact height instead of a guessed offset - pixi: rename the `clean` task to `kill` (it kills stale ROS processes); update the CLAUDE.md reference to match Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01QXgJsGhCMsQ2yf4js6dDqo
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Summary
Small, independent cleanups unrelated to the localization/sim work.
caster_zfromwheel_radius/axle_zso the caster sits at the true ground-contact height instead of a guessed offset.cleantask tokill(it kills stale ROS processes); update the CLAUDE.md reference to match.Test plan
pixi run buildsucceeds andxacrogenerates the URDF cleanly with the newcaster_zformula.🤖 Generated with Claude Code