Create a ROS service to change how much the orientation matters to us at a given time.
Drop orientation weight a bit when making large waypoint changes (much faster than worrying about orientation while moving) and make orientation precise when we need it to be. May overcome a lot of issues
Create a ROS service to change how much the orientation matters to us at a given time. Drop orientation weight a bit when making large waypoint changes (much faster than worrying about orientation while moving) and make orientation precise when we need it to be. May overcome a lot of issues