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UbiquityRobotics / move_basic

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

Rotation after runaway abort #97

Closed MoffKalast closed 2 years ago

MoffKalast commented 2 years ago

Just a simple alteration that only aborts linear speed when detecting runaway and still does the rotation. I'm not sure about the general applicability but I guess it's likely that the abort will kick in when the robot is just past the goal, at which point it would make sense to accept it as "done" perhaps.

One of our clients seems to be getting these aborts at roughly 30-50% of the goals sent, which is odd and should be looked into more in the future, but this'll hopefully solve some of their issues for the time being.

MoffKalast commented 2 years ago

Closing for now, since we'll be switching to move_smooth and will have to recheck if this happens there and fix it in the other codebase if it persists.