Closed gennartan closed 4 months ago
@gennartan please see https://github.com/ros-navigation/navigation2/pull/4290#issuecomment-2108757778 if you hadn't already
Please also make sure to sign off your commits. See the DCO failed job for details
Essentially done though, this looks good to me. Did you test this out?
Essentially done though, this looks good to me. Did you test this out?
Yes I tested it in simulation. It works fine.
@gennartan please see #4290 (comment) if you hadn't already
I missed this comment the other day. Now it is fixed (and tested) :smile:
@gennartan see my new review comments, some are outstanding still. Then I think the last thing left if just adding the new parameter to the configuration guide for this plugin + add to the migration guide that this is a new available feature!
I think just docs left now!
here is the PR: https://github.com/ros-navigation/docs.nav2.org/pull/561
Thanks @gennartan !
@gennartan your PR has a failing test now! https://app.circleci.com/pipelines/github/ros-navigation/navigation2/11752/workflows/7593ca53-120e-481f-9fba-326f26f6e32e/jobs/36042/tests
Can you take a look and fix the issue?
Just a curious thought, will this be backported to humble branch?
That's the plan, we haven't done a new sync since this was merged, it missed the sync date by a few days. The next one is at the end of this month. If you want it in the branch sooner though, you can open a cherry-picked backport PR to Humble and I can merge that so its not a blocker
When arriving in the goal xy tolerance, the rotation shim controller takes back the control to command the robot to rotate in the goal heading orientation.
The initial goal of the rotationShimController was to rotate the robot at the beginning of a navigation towards the paths orientation because some controllers are not good at performing in place rotations. For the same reason, the rotationShimController should be able to rotate the robot towards the goal heading.
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