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nobleo / full_coverage_path_planner

Full coverage path planning provides a move_base_flex plugin that can plan a path that will fully cover a given area
Apache License 2.0
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the topic msg of /cmd_vel is all wrong #55

Closed realHarvey closed 3 weeks ago

realHarvey commented 1 month ago

at start, i need just rotate 90 degrees counterclockwise, but /cmd_vel message have a non-zero linear.x, might be such number like -10 or 6 ... a i change the config " l " from defaut 0.5 to 0.001, then linear.x close to 0 BUT angular.z(the yaw) stays too long, my robot turns far more than 90 degs

Timple commented 1 month ago

This library outputs a path. It's not responsible for the /cmd_vel topic.

Although the launchfiles do include a full working example including the controller. Is the odometry of your robot correct?

realHarvey commented 1 month ago

The /odom data is dead accurate. I didn't run into any snags with the odometry data when working on global motion planning.

you're right, maybe I should issue in "tracking_pid"