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rayvburn / humap_local_planner

Human-aware robot trajectory planner using a hybrid trajectory candidates generation and spatiotemporal cost functions
BSD 3-Clause "New" or "Revised" License
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do not switch state from `Adjust` to `Init` when the goal is closer than double `xy_tolerance` #112

Open rayvburn opened 1 year ago

rayvburn commented 1 year ago

Sometimes when the robot is positioning to the final orientation, the localisation relocates the mobile base and, thus, the robot must translate first before reorienting.

rayvburn commented 9 months ago

Or implement this kind of hack https://github.com/rayvburn/srl_eband_local_planner/blob/b67c1702f5f1e34f850bfb1770b6feded437df0b/src/srl_eband_trajectory_controller.cpp#L916

rayvburn commented 9 months ago

Also, latch_xy_goal_tolerance set to false seems to cause that