move_basic Features

[dorkamotorka]

This Issue names the features included in nav-features branch that will be merged into kinetic-devel once all the relevant people agree.

Last stable commit was 7148b24c7c5a436e56fcefe9fc344dfd12be1edb on branch nav-features. If any of the features break your code, please refer to this commit and report your problem in this issue. Changes applied from last stable commit are:

• Removed velocity gains(latGain, linGain, rotGain) REASON: Unintuitive for the end user COUNTER WEIGHT: Increased values for both minLinearVelocity & minTurningVelocity so that robot is not moving to slow + retuned PID parameters for lateral correction when moving linear
• Added stopCallback REASON: Enables us to stop and resume the last navigation task through topic (no need to cancel all goals and resend them) - This should further changed to ROS Service
• Oscillations REASON: When turning on spot robot can oscillate around the final orientation no more than 3 times, this enables us to miss a final orientation but give a second try(is already present in kinetic-devel)
• Removed velThreshold parameter REASON: It doesn't give any significant change - linearTolerance parameter for checking if we are close enough to a goal is good enough for now
• False final orientation quaternion REASON: Proposed for projects ease handling
• Abort moving away from goal REASON: Abort before any unpredicted behaviour WORKING PRINCIPLE: If robot moves away from goal(cosine of angleRemaining) for more than runawayTimeout duration, we mark that as moving away from goal and abort it
• Added minLinearVelocity, minAngularVelocity REASON: This way robot IRL is always able to perform a maneuver and is not stuck by its physical constraints
• Renamed parameters REASON: To be more intuitive for the end-user

[JanezCim]

I think the HEAD on nav-features is now sufficiently bettern then this last stable so we can close this