Planners like dwa_local_planner and base_local_planner uses base_local_planner::LocalPlannerLimits class and enables users to set stop velocities. This is used to make sure that the robot has actually stopped before returning success. This avoids issues of overshooting the goal after the planner has returned success.
Changes
In this PR two new parameters are introduced, trans_stopped_vel and theta_stopped_vel that ensures the robot achieves translational and rotational velocity below specified thresholds, respectively, before returning success.
Testing
Tested by manually publishing mock data to the odom topic.
amakarow
commented
3 years ago
Feature addition
Planners like dwa_local_planner and base_local_planner uses base_local_planner::LocalPlannerLimits class and enables users to set stop velocities. This is used to make sure that the robot has actually stopped before returning success. This avoids issues of overshooting the goal after the planner has returned success.
Changes
In this PR two new parameters are introduced,
trans_stopped_velandtheta_stopped_velthat ensures the robot achieves translational and rotational velocity below specified thresholds, respectively, before returning success.Testing
Tested by manually publishing mock data to the odom topic.