litearm-ros2-control (nexform-tech)FirmwareConfidence: Medium

The ROS 2 driver header promises the arm holds at full stiffness if the command stream stops, but every motion command in the firmware clears the PARK flag first, so a crash or pulled cable leaves the arm sagging on 0.6x kp fail-soft with zero torque feedforward.

Impact Analysis

Persona

Firmware Engineer

Team Size Impact

5x Multiplier

Prototype Delay

3 Days

Est. Annual Cost

$30,000

1 user · 1 month240 min
Rest of team960 min
Rest of year13,200 min

monthly_minutes × 12 × team_multiplier ÷ 60 × $75/hr = $30k/yr

$75/hr assumed rate.

Annual team-minutes decomposed from the reported monthly inputs.

Evidence & Sources

1 Sources

nexform-tech/litearm-ros2-control Issue #22: PARK does not survive the first command frame: the promised full-stiffness hold is 0.6×kp with tau=0

github.com

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Analyst Notes

From the Grok pain-radar digests, Oct 27-28 2026 (Oct 27 8:41 AM ET through Oct 28 7:41 AM ET digests plus the Haitch editions). Verified live 2026-10-28: issue/PR/thread read; title and state confirmed.