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Issue title

`self._use_param_offset` used but never assigned in __init__

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Pick exactly which findings appear in the issue body. By default the top 5 are included. Uncheck noise, check what matters.

Top 5 (default)
Severity Rule Title File:line
CRIT MINED030 [MINED030] Python Pickle Loads: pickle.loads() can execute arbitrary code via __reduce__. src/recode_sequence/recode_sequence/seq…:217
CRIT SEC081 [SEC081] Python: pickle.loads / marshal.loads on untrusted data: pickle.load(s) and marsh… src/recode_sequence/recode_sequence/seq…:217
HIGH MINED108 [MINED108] `self._aruco_sub` used but never assigned in __init__: Method `_setup_aruco_mo… src/depth_digital_twin/depth_digital_tw…:289
HIGH MINED108 [MINED108] `self.marker_length` used but never assigned in __init__: Method `_setup_aruco… src/depth_digital_twin/depth_digital_tw…:268
HIGH MINED108 [MINED108] `self._use_param_offset` used but never assigned in __init__: Method `_setup_a… src/depth_digital_twin/depth_digital_tw…:288
HIGH MINED108 [MINED108] `self._use_param_offset` used but never assigned in __init__: Method `_setup_a… src/depth_digital_twin/depth_digital_tw…:285
HIGH MINED108 [MINED108] `self.aruco_start` used but never assigned in __init__: Method `_setup_aruco_m… src/depth_digital_twin/depth_digital_tw…:280
HIGH MINED108 [MINED108] `self.handeye_link6_samples` used but never assigned in __init__: Method `_set… src/depth_digital_twin/depth_digital_tw…:279
HIGH MINED108 [MINED108] `self.aruco_samples` used but never assigned in __init__: Method `_setup_aruco… src/depth_digital_twin/depth_digital_tw…:276
HIGH MINED108 [MINED108] `self.obj_pts` used but never assigned in __init__: Method `_setup_aruco_mode`… src/depth_digital_twin/depth_digital_tw…:269
HIGH MINED108 [MINED108] `self.aruco_detector` used but never assigned in __init__: Method `_setup_aruc… src/depth_digital_twin/depth_digital_tw…:265
HIGH MINED108 [MINED108] `self._aruco_offset` used but never assigned in __init__: Method `_setup_aruco… src/depth_digital_twin/depth_digital_tw…:250
HIGH MINED108 [MINED108] `self._aruco_R_m2b` used but never assigned in __init__: Method `_setup_aruco_… src/depth_digital_twin/depth_digital_tw…:249
HIGH MINED108 [MINED108] `self.T_marker_base` used but never assigned in __init__: Method `_setup_aruco… src/depth_digital_twin/depth_digital_tw…:243
HIGH MINED108 [MINED108] `self.aruco_fallback` used but never assigned in __init__: Method `_setup_aruc… src/depth_digital_twin/depth_digital_tw…:222
HIGH MINED108 [MINED108] `self.aruco_timeout_s` used but never assigned in __init__: Method `_setup_aru… src/depth_digital_twin/depth_digital_tw…:220
HIGH MINED108 [MINED108] `self.aruco_reproj_max` used but never assigned in __init__: Method `_setup_ar… src/depth_digital_twin/depth_digital_tw…:218
HIGH MINED108 [MINED108] `self.aruco_samples_req` used but never assigned in __init__: Method `_setup_a… src/depth_digital_twin/depth_digital_tw…:216
HIGH MINED108 [MINED108] `self.marker_length` used but never assigned in __init__: Method `_setup_aruco… src/depth_digital_twin/depth_digital_tw…:215
HIGH MINED108 [MINED108] `self.marker_id` used but never assigned in __init__: Method `_setup_aruco_mod… src/depth_digital_twin/depth_digital_tw…:213
HIGH MINED108 [MINED108] `self.R_samples` used but never assigned in __init__: Method `_handle_redetect… src/depth_digital_twin/depth_digital_tw…:203
HIGH MINED108 [MINED108] `self.origin_samples` used but never assigned in __init__: Method `_handle_red… src/depth_digital_twin/depth_digital_tw…:202
HIGH MINED108 [MINED108] `self._aruco_sub` used but never assigned in __init__: Method `_handle_redetec… src/depth_digital_twin/depth_digital_tw…:192
HIGH MINED108 [MINED108] `self._aruco_sub` used but never assigned in __init__: Method `_handle_redetec… src/depth_digital_twin/depth_digital_tw…:193
HIGH MINED108 [MINED108] `self.aruco_start` used but never assigned in __init__: Method `_handle_redete… src/depth_digital_twin/depth_digital_tw…:191
HIGH MINED108 [MINED108] `self.handeye_link6_samples` used but never assigned in __init__: Method `_han… src/depth_digital_twin/depth_digital_tw…:190
HIGH MINED108 [MINED108] `self.aruco_samples` used but never assigned in __init__: Method `_handle_rede… src/depth_digital_twin/depth_digital_tw…:189
HIGH MINED006 [MINED006] Overcatch Baseexception: except BaseException: ... — prevents Ctrl+C and Syste… src/recode_sequence/recode_sequence/seq…:288
HIGH MINED006 [MINED006] Overcatch Baseexception: except BaseException: ... — prevents Ctrl+C and Syste… src/recode_sequence/recode_sequence/han…:118
HIGH SEC114 [SEC114] path.join / Path() on user-controlled segment without containment check: filepat… src/recode_sequence/launch/playback.lau…:31
HIGH SEC114 [SEC114] path.join / Path() on user-controlled segment without containment check: filepat… src/depth_digital_twin/launch/hand_fusi…:39
HIGH SEC114 [SEC114] path.join / Path() on user-controlled segment without containment check: filepat… src/depth_digital_twin/launch/digital_t…:52
HIGH MINED001 [MINED001] Bare Except Pass: except: pass or except Exception: pass — silently swallows e… src/recode_sequence/recode_sequence/han…:118
HIGH MINED001 [MINED001] Bare Except Pass: except: pass or except Exception: pass — silently swallows e… src/depth_digital_twin/depth_digital_tw…:34
HIGH MINED001 [MINED001] Bare Except Pass: except: pass or except Exception: pass — silently swallows e… src/depth_digital_twin/depth_digital_tw…:85
HIGH SEC128 [SEC128] Async function without await — fire-and-forget Promise (AI mistake): Async call … src/depth_digital_twin/legacy/depth_dig…:170
HIGH SEC128 [SEC128] Async function without await — fire-and-forget Promise (AI mistake): Async call … sample/Calibration_Tutorial/handeye_cal…:227
HIGH SEC128 [SEC128] Async function without await — fire-and-forget Promise (AI mistake): Async call … sample/Calibration_Tutorial/eye2hand_ca…:283
HIGH SEC013 [SEC013] Path Traversal — User Input in File Path: User-controlled input used in file pat… src/recode_sequence/launch/playback.lau…:31
HIGH SEC013 [SEC013] Path Traversal — User Input in File Path: User-controlled input used in file pat… src/depth_digital_twin/launch/hand_fusi…:39
HIGH SEC013 [SEC013] Path Traversal — User Input in File Path: User-controlled input used in file pat… src/depth_digital_twin/launch/digital_t…:52
MED MINED111 [MINED111] Bare except continues silently: Bare `except:` (or `except Exception:`) that r… src/depth_digital_twin/depth_digital_tw…:1177
MED MINED111 [MINED111] Bare except continues silently: Bare `except:` (or `except Exception:`) that r… src/depth_digital_twin/depth_digital_tw…:57
MED MINED111 [MINED111] Bare except continues silently: Bare `except:` (or `except Exception:`) that r… src/depth_digital_twin/depth_digital_tw…:500
MED SEC007 [SEC007] Unsafe Deserialization: Unsafe deserialization can execute arbitrary code. src/recode_sequence/recode_sequence/seq…:217
MED ERR001 [ERR001] Silent Exception Swallowing: Silently swallowing all exceptions hides bugs. Even… src/depth_digital_twin/depth_digital_tw…:34
MED COMP001 [COMP001] High cognitive complexity: Function `calibrate` has cognitive complexity 16 (So… src/depth_digital_twin/depth_digital_tw…:18
MED CORE_NO_CI No CI/CD configuration found —
LOW COMP001 [COMP001] High cognitive complexity: Function `calibrate_camera_from_chessboard` has cogn… sample/Calibration_Tutorial/handeye_cal…:65
LOW COMP001 [COMP001] High cognitive complexity: Function `calibrate_camera_from_chessboard` has cogn… sample/Calibration_Tutorial/eye2hand_ca…:64
LOW AIC003 Duplicated implementation block across source files src/depth_digital_twin/launch/digital_t…:232
LOW CORE_NO_LICENSE No LICENSE file —
INFO MINED050 [MINED050] Stub Only Function: Function declared but body is just pass, return None, rais… src/depth_digital_twin/legacy/depth_dig…:19
INFO MINED050 [MINED050] Stub Only Function: Function declared but body is just pass, return None, rais… src/depth_digital_twin/depth_digital_tw…:35
INFO MINED050 [MINED050] Stub Only Function: Function declared but body is just pass, return None, rais… src/depth_digital_twin/depth_digital_tw…:86
Reset to top 5 55 findings available (after auto-suppression of test files + won't-fix)

Issue body (markdown)

## Code-quality scan: `2026-yarr-robotics/ros2-depth-point-cloude`

**Score: 89/100 (A-)**  ·  55 findings  ·  scanned 2026-06-16 02:50 UTC  ·  14,798 LOC

| Severity | Count |
|---|---|
| CRITICAL | 2 |
| HIGH | 39 |
| MEDIUM | 7 |
| LOW | 4 |

📊 [Full filterable report](https://repobility.com/scan/7dd11e14-7f56-4932-bb87-853ec87a4835/)  ·  ![scorecard](https://repobility.com/scan/7dd11e14-7f56-4932-bb87-853ec87a4835/report.png?v=1781578243-s2)

### Top findings

1. **CRITICAL** `MINED030` — Python Pickle Loads
   `src/recode_sequence/recode_sequence/seq_io.py:217` · CWE-502 · ✓ Repobility
2. **CRITICAL** `SEC081` — Python: pickle.loads / marshal.loads on untrusted data
   `src/recode_sequence/recode_sequence/seq_io.py:217` · A05:2021 Security Misconfiguration
3. **HIGH** `MINED108` — `self._aruco_sub` used but never assigned in __init__
   `src/depth_digital_twin/depth_digital_twin/world_origin_node.py:289` · ✓ Repobility
4. **HIGH** `MINED108` — `self.marker_length` used but never assigned in __init__
   `src/depth_digital_twin/depth_digital_twin/world_origin_node.py:268` · ✓ Repobility
5. **HIGH** `MINED108` — `self._use_param_offset` used but never assigned in __init__
   `src/depth_digital_twin/depth_digital_twin/world_origin_node.py:288` · ✓ Repobility

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**Security note**: this issue is public. If any flagged finding is a real, exploitable vulnerability, please redirect to your `SECURITY.md` policy or open a [private security advisory](https://docs.github.com/en/code-security/security-advisories/guidance-on-reporting-and-writing-information-about-vulnerabilities/privately-reporting-a-security-vulnerability) instead. We're happy to close this and re-submit privately.

---

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