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MariotoA / mrpt_reactivenav

A wrapper ROS package for mrpt's 3D reactive navigation system that also works as a BaseLocalPlanner plugin.
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Heading correction. #10

Open MariotoA opened 6 years ago

MariotoA commented 6 years ago

We need to find a way to align robot with goal when it is reached.

This is done in waypoints navigation. Merging waypoints' branch with master would be the first step toward this.

MariotoA commented 5 years ago

Right now, the WaypointsNavigation approach is not useful. The alignment done in this navigation is only performed to ease traversing to next waypoint. For the last waypoint this alignment is not applied.

Searching mrpt code we conclude there is a bug in navparams processing (single vs multiple target as JL said) This error roots are in the fact the navparams for waypointnavigation has support for single and multiple params and we only use the multiple ones.

In particular, "IsGoalReached" is computed (INSIDE MRPT LIBRARY) with the single param (which is NOT initialized and therefore is (0,0,0,0,0,0)).

We tried initializing the single param too but causes crashes.