Added flag for backward motion and renamed some params

mikeferguson / graceful_controller

A better local controller for ROS Navigation.

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Closed mkaca closed 2 years ago

mkaca commented 2 years ago

Added optional flag to the approach method which enables backward motion:

flip sign of x (since it's behind the robot hence the 2 quadrants are wrong)
reverse the direction of v Renamed velocity params to be absolute velocity params ... since that is what they really behave as.