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do not switch state from Adjust to Init when the goal is closer than double xy_tolerance #112

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rayvburn opened this issue Sep 6, 2023 · 2 comments
Open

do not switch state from Adjust to Init when the goal is closer than double xy_tolerance #112

rayvburn opened this issue Sep 6, 2023 · 2 comments
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@rayvburn
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rayvburn commented Sep 6, 2023

Sometimes when the robot is positioning to the final orientation, the localisation relocates the mobile base and, thus, the robot must translate first before reorienting.
@rayvburn rayvburn added the backlog Issue to be done label Sep 6, 2023
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rayvburn commented Dec 9, 2023

Or implement this kind of hack https://github.com/rayvburn/srl_eband_local_planner/blob/b67c1702f5f1e34f850bfb1770b6feded437df0b/src/srl_eband_trajectory_controller.cpp#L916

@rayvburn
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Also, latch_xy_goal_tolerance set to false seems to cause that

rayvburn added a commit that referenced this issue Jan 6, 2024
@rayvburn
planner - a goal position is reached with a higher accuracy before …
65d1c8c 
…rotating in place [#112]
rayvburn added a commit that referenced this issue Jan 15, 2024
@rayvburn
planner - a goal position is reached with a higher accuracy before …
a74d87d 
…rotating in place [#112]
rayvburn added a commit that referenced this issue Jan 17, 2024
@rayvburn
planner - a goal position is reached with a higher accuracy before …
a4898b6 
…rotating in place [#112]
rayvburn added a commit that referenced this issue Jan 18, 2024
@rayvburn
planner - a goal position is reached with a higher accuracy before …
59614b0 
…rotating in place [#112]
rayvburn added a commit that referenced this issue Jan 19, 2024
@rayvburn
planner - a goal position is reached with a higher accuracy before …
a929625 
…rotating in place [#112]
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@rayvburn