Added heading error threshold requirement for reaching a waypoint
Setting the rosparam cycle to false now works
Also skips odometryCallback entirely once reaching final waypoint, thus skipping unnecessary computations
Improved info print statements
Removed duplicate code
Renamed next_waypoint back to current_waypoint - calling it next_waypoint seems confusing given that self.current_waypoint_index is used to select the waypoint, and publishing the waypoint effectively makes it the current waypoint
Changes to
waypoint_manager.py
. In a nutshell:cycle
tofalse
now worksodometryCallback
entirely once reaching final waypoint, thus skipping unnecessary computationsnext_waypoint
back tocurrent_waypoint
- calling itnext_waypoint
seems confusing given thatself.current_waypoint_index
is used to select the waypoint, and publishing the waypoint effectively makes it the current waypoint