fix: update YAML handling to support negative values and ensure float normalization

Author: SeanChangX

src/api/index.js

@@ -424,7 +424,9 @@ router.get('/nav-params', (req, res) => {
         fs.mkdirSync(dir, { recursive: true });
       }
 
-      fs.writeFileSync(profilePath, yaml.dump(defaultData));
+      let defaultYaml = yaml.dump(defaultData, yamlOptions);
+      defaultYaml = defaultYaml.replace(/(max_linear_velocity|max_angular_velocity): (-?\d+)$/gm, '$1: $2.0');
+      fs.writeFileSync(profilePath, defaultYaml);
       console.log(`Created default ${profile} profile with linear=${defaultLinear}, angular=${defaultAngular}`);
 
       return res.json({ 
@@ -810,9 +812,9 @@ const ROBOT_CONFIG_PARAM_KEYS = [
   'cursor_tolerance',
 ];
 
-/** js-yaml prints integer 0,2 as 0,2; ROS param files use x.0. Match indented lines, all supported keys. */
+/** js-yaml prints integer 0,2,-1 as 0,2,-1; ROS param files use x.0. Match indented lines, all supported keys, including negative values. */
 const ROBOT_CONFIG_INT_TO_FLOAT_RE = new RegExp(
-  `^(\\s*)(${ROBOT_CONFIG_PARAM_KEYS.join('|')}): (\\d+)$`,
+  `^(\\s*)(${ROBOT_CONFIG_PARAM_KEYS.join('|')}): (-?\\d+)$`,
   'gm',
 );
 

src/server.js

@@ -14,9 +14,9 @@ const API_SERVER_PORT = process.env.API_SERVER_PORT || 3001;
 // Data directory
 const dataDir = '/home/share/data';
 
-// Match robot_config.yaml param lines: js-yaml may emit 0,2; normalize to 0.0,2.0 (see api/index.js)
+// Match robot_config.yaml param lines: js-yaml may emit 0,2,-1; normalize to 0.0,2.0,-1.0 (see api/index.js)
 const ROBOT_CONFIG_INT_TO_FLOAT_RE = new RegExp(
-  '^(\\s*)(pantry_aggressiveness|pantry_sensitivity|pantry_rival_sigma|pantry_rival_distance_threshold|collection_aggressiveness|collection_sensitivity|collection_rival_sigma|collection_rival_distance_threshold|flip_distance_threshold|cursor_tolerance): (\\d+)$',
+  '^(\\s*)(pantry_aggressiveness|pantry_sensitivity|pantry_rival_sigma|pantry_rival_distance_threshold|collection_aggressiveness|collection_sensitivity|collection_rival_sigma|collection_rival_distance_threshold|flip_distance_threshold|cursor_tolerance): (-?\\d+)$',
   'gm',
 );