support oscillation angle in move_base

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

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support oscillation angle in move_base #335

Closed knorth55 closed 7 months ago

knorth55 commented 7 months ago

this PR needs #334

this PR adds oscillation angle feature in move_base. now only exe_path has the oscillation_angle feature, but it is also useful for move_base, too.

corot commented 7 months ago

@corot So it seems like mbf already has dynamic config for the oscillation parameters, but we're not using them for the exe_path action? Wouldn't it be better to re-use them instead of reading them from parameter server? 🤔

https://github.com/renan028/move_base_flex/blob/567f2c8eedc58211fba889ee6f604adfdd9dc06f/mbf_abstract_nav/src/controller_action.cpp#L118-L123

right,,,, https://github.com/magazino/move_base_flex/pull/338