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turtlebot / turtlebot_apps

A group of simple demos and exmaples to run on your TurtleBot to help you get started with ROS and TurtleBot.
http://www.ros.org/wiki/turtlebot_apps
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Safer behavior for Turtlebot Follower #40

Closed chadrockey closed 11 years ago

chadrockey commented 11 years ago

This commit prevents the turtlebot from running over feet/up legs in order to reach the center of the centroid along the z-axis.

Previously, if you stood with your legs apart, someone standing behind you, or with a wall behind you, the centroid would be past your legs/feet.

Using the closest z-reading instead of the centroid is much safer for people with open-toed shoes. This also has the benefit of being able to free the turtlebot from walls and obstacles simply by stepping in front of the turtlebot.

tfoote commented 11 years ago

+1

LucidOne commented 11 years ago

On 04/10/2013 07:25 PM, Tully Foote wrote:

+1

— Reply to this email directly or view it on GitHub https://github.com/turtlebot/turtlebot_apps/pull/40#issuecomment-16208718.

+inf

bit-pirate commented 11 years ago

I like this!

stonier commented 11 years ago

Looks good. I'll get a new deb rolling this afternoon.