[waveshare-ugv] Prove supervised physical goals and a bounded patrol

[superposition]

Context

Physical navigation is the final implementation step. It may begin only after the generic safety gate, UGV sensor/SLAM proof, and map-tool integration are complete.

Depends on #162, #166, and #167.

Scope

• Enable the explicit physical-navigation gate only in the supervised UGV deployment profile.
• Route localized goal/path execution through Leash capability policy, speed caps, deadman, obstacle gate, soft-distance limit, stop, and e-stop.
• Prove progressively larger supervised goals before enabling a bounded patrol zone.
• Keep localization/path providers unable to bypass the Leash motor adapter.

Definition of done

• Physical navigation remains off in default builds/configuration and requires an explicit implementation opt-in.
• ROS/localization processes have no direct motor serial access and cannot command motors outside Leash.
• Token/approval, low-speed cap, fresh lidar/localization, covariance threshold, deadman, and soft-distance limit are enforced throughout execution.
• Lidar staleness, obstacle threshold, localization loss, token expiry, stop, and e-stop each cancel motion and produce zero-speed output in dedicated proofs.
• A supervised 0.5 m goal completes within 0.15 m without safety intervention.
• Three supervised map-frame goals complete consecutively with final pose and stop evidence.
• One explicitly bounded patrol zone completes one circuit and stops at its terminal waypoint.
• Every run has a cleared test area, present operator, reachable e-stop, recording/replay artifact, resource log, and final stop proof.
• A failed acceptance attempt cannot leave planner or patrol state active after stop/restart.
• The implementation checklist is completed and linked; all reusable library/no-hardware gates remain green.