RootRework: General Refactor and Rewrite

UbiquityRobotics / move_basic

A minimal navigation node

BSD 3-Clause "New" or "Revised" License

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RootRework: General Refactor and Rewrite #106

Open MoffKalast opened 2 years ago

MoffKalast commented 2 years ago

After #103 is done and we've got move_smooth to work on, we should do a general rewrite of the node to clean up the code and sort out or at least somewhat address the following issues and add required features:

[ ] reducing fishtailing
[ ] running away from/missing goals
[ ] implementing a 2D PID system

dorkamotorka commented 2 years ago

Why do you want to implement 2D PID system? I assume it's lateral and linear control but that's already done. I forgot but I think we are using Stanley lateral controller and linear is just max acceleration->max speed-> max decceleration.

MoffKalast commented 2 years ago

I'm not sure, I wasn't directly involved with that discussion at the time but that's what I last remember being the plan. We should probably have a meeting to get on the same page about it.