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RoboJackets / igvc-software

The code base for the RoboNav team's IGVC robot.
https://robojackets.org/teams/robonav/
MIT License
91 stars 120 forks source link

Back Circle Service #830

Closed matthewhannay567 closed 3 years ago

matthewhannay567 commented 3 years ago

Description

Adds a layer to the costmap that prevents the robot from pathing backwards.

Fixes #749

Test Case 1

  1. Start up gazebo simulation
  2. Launch navigation with read_from_file:=false
  3. Launch rviz and set a navigation waypoint
  4. Set another one later

Expectation: The back circle should move with the robot and always generate behind it when setting waypoints.

Test Case 2

  1. Start up gazebo simulation
  2. Launch navigation with read_form_file:=true

Expectation: The back circle will be generated behind the robot once it reads from the waypoint file.

Self Checklist