magazino / move_base_flex

Move Base Flex: a backwards-compatible replacement for move_base

https://uos.github.io/mbf_docs/

BSD 3-Clause "New" or "Revised" License

422 stars 154 forks source link

Fix angle oscillation #330

Closed renan028 closed 8 months ago

renan028 commented 8 months ago

Description

If the robot is too slow to execute a spin-in-place, oscillation will be triggered. However, that is not an actual oscillation, since the robot is spinning to goal.

Testing

Behavior before (oscillation_angle == 𝝿):

https://github.com/magazino/move_base_flex/assets/6097267/51b326b5-1b17-41ee-aeaf-0fc8e555dd83

Behavior after (oscillation_angle == 0.1):

https://github.com/magazino/move_base_flex/assets/6097267/13f40a9c-cd51-44f5-a29e-a0c52a8d23b7