At this stage drive and rotate goals sent to the floor_follow actionlib server use the drive and rotate rates then do drives or rotates for a time that 'should' yield the desired distance.
This was done to get things going but in fact for a 'nice' interface there should be another interface that uses ODOM for accurate positioning.
We could do this by modification to the existing handler and we do not need a new API. The API gives distances to drive and radians to rotate so best we just convert to use of odom and not add more api constants for other goals.
At this stage drive and rotate goals sent to the floor_follow actionlib server use the drive and rotate rates then do drives or rotates for a time that 'should' yield the desired distance.
This was done to get things going but in fact for a 'nice' interface there should be another interface that uses ODOM for accurate positioning.
We could do this by modification to the existing handler and we do not need a new API. The API gives distances to drive and radians to rotate so best we just convert to use of odom and not add more api constants for other goals.