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UbiquityRobotics / move_basic

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

Side dist #46

Closed jim-v closed 5 years ago

jim-v commented 5 years ago

Implements a side following mode. Fixes some wierdness when operating in the map frame

jim-v commented 5 years ago

Run with UbiquityRobotics/magni_robot#86

jim-v commented 5 years ago

@rohbotics, this is ready to be reviewed again when you have time.

rohbotics commented 5 years ago

Hey Jim, let me know when you want me to re-review this.

jim-v commented 5 years ago

Hey Jim, let me know when you want me to re-review this.

I'm going to spend some time at the weekend seeing if I can make it work better, but it would be good if you take a look at it before that (assuming you have time), to see if you can spot any potential issues.

rohbotics commented 5 years ago

I took a look at it, nothing really stands out as a problem.

There is a lot of close to repetitive code, especially in obstacle detector, with subtle differences. If it is easy to parametrize the differences, instead of mostly repeating, that would be nice, but not needed.