Currently the goal setting node slam_mode_goal publishes the Twist message that indicates the steering angle and velocity in the x-direction (forward/backward relative to the kart).
This control data is set purely based on the position of the goal. In other words, it takes a straight-line path to the goal with some arbitrary velocity proportional to the distance the goal is from the robot.
Instead, this goal should be processed by a local planner that finds a trajectory based on the goal, obstacles in the surrounding environment, and kinodynamic constraints of the kart (e.g.max velocity/acceleration).
Description
Currently the goal setting node
slam_mode_goalpublishes theTwistmessage that indicates the steering angle and velocity in the x-direction (forward/backward relative to the kart).This control data is set purely based on the position of the goal. In other words, it takes a straight-line path to the goal with some arbitrary velocity proportional to the distance the goal is from the robot.
Instead, this goal should be processed by a local planner that finds a trajectory based on the goal, obstacles in the surrounding environment, and kinodynamic constraints of the kart (e.g.max velocity/acceleration).
Sub-tasks
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