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UbiquityRobotics / move_basic

A minimal navigation node
BSD 3-Clause "New" or "Revised" License
69 stars 21 forks source link

Going backwards doesn't work #24

Closed jim-v closed 6 years ago

jim-v commented 6 years ago

@jrlandau reported that goals behind don't work.

Question: should it handle this as a special case and actually move backwards, or do the arctan planner thing and rotate to face the goal and drive towards it? If it moves backwards, then a front-facing LIDAR does not provide obstacle detection.

Definition of done: Backwards goals result in behavior that considered reasonable by consensus.

jrlandau commented 6 years ago

turning round takes quite some space, but moving backwards takes less, so it may be useful to get out of a tight spot.

On Wed, Sep 20, 2017 at 9:45 PM, Jim Vaughan notifications@github.com wrote:

@jrlandau https://github.com/jrlandau reported that goals behind don't work.

Question: should it handle this as a special case and actually move backwards, or do the arctan planner thing and rotate to face the goal and drive towards it? If it moves backwards, then a front-facing LIDAR does not provide obstacle detection.

Definition of done: Backwards goals result in behavior that considered reasonable by consensus.

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/UbiquityRobotics/move_basic/issues/24, or mute the thread https://github.com/notifications/unsubscribe-auth/ADxmjJu3gOsq5fyNg7rjtirkGNcQrg7dks5skenzgaJpZM4Peyrw .

rohbotics commented 6 years ago

Maybe it makes sense to go backward for short goals (<0.5 m) and do the atan2 method for backward goals beyond that distance?

rohbotics commented 6 years ago

Decision:

If within a threshold backward and in angular threshold, then arctan backward.

Otherwise do the 'current behavior' sans bugs.