When avoiding obstacles using the LIDAR, not only do we want to steer away from the obstacles, but also make sure that there's enough distance between the obstacle and the body of the robot. This PR changes the obstacle avoidance logic such that it adds a "padding" to the edges of the LIDAR data.
When avoiding obstacles using the LIDAR, not only do we want to steer away from the obstacles, but also make sure that there's enough distance between the obstacle and the body of the robot. This PR changes the obstacle avoidance logic such that it adds a "padding" to the edges of the LIDAR data.