bump::patch
More improvements after fetch bottle tests. I think that robot used to work better with TEB settings that I had and I'm not sure why retunning was required, but now it is back to working quite good. After these tests working is quite optimal, probably close to this robots limits. Improvements:
joint_state_publisher moved from raspberry - to optimize delays caused by network
added latching to servo commands
fixed problems with adding smaller bottle when picking it up
bump::patch More improvements after fetch bottle tests. I think that robot used to work better with TEB settings that I had and I'm not sure why retunning was required, but now it is back to working quite good. After these tests working is quite optimal, probably close to this robots limits. Improvements: