Simulated Robot Kept Moving After Stop Command Sent to Wrong Topic

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A developer deliberately injected a fault by publishing a stop command to a topic the simulated robot's drivetrain did not consume, while forward commands continued on the correct topic. Across 20 repeated runs, the robot traveled an average of about 0.52 meters after the faulty stop, showing that a successfully published command does not confirm the robot has halted. To investigate, the developer built Stop Evidence Monitor, an open-source ROS 2 research prototype that checks stop requests against downstream velocity commands and independent motion measurements. The experiment used Gazebo's differential-drive reference robot and estimated movement from changes in LiDAR distance to a fixed wall. The monitor is described as an observation layer rather than a replacement navigation controller.

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