Different number of primitives for every angle on noetic

[vishwaslip]

Hello, I was wondering if it was possible, on the noetic version of sbpl_lattice_planner, to have a different number of primitives per angle. For example, 7 primitives for angle 0, and 11 primitives for angle 22.5. I modified the matlab script to accommodate for these changes, but the subsequent .mprim file seems to crash the node.

For background, I am trying to customize this planner for my omnidirectional rectangular robot. I tried to follow ros 2's minimal motion primitives set, though it has a different number of primitives per angle. I also do not care which orientation the rectangular robot is on one axis, as in the front vs the back doesn't matter. So intuitively, I feel like I would need to repeat all my forward motions to make them backwards motions as well, so that the robot feels like it could go both ways, though this increases the total number of primitives even more.

So something like this for 67.5 degrees.

[SteveMacenski]

If this doesn’t support it, Nav2’s Smac Planner does 🙂