Carry My Luggage (Part 3) (LASR-at-Home#219)

* feat: basic recovery behaviour.

* feat: basic finished check.

* WIP: improving following.

* chore: fix launch files.

* fix/refactor: handle tts/transcription not being available and remove commented block.

* feat: recovery behaviour, and finished condition.

* feat: reduce distance travelled threshold.

* refactor: reorganise.

* fix: call to move_base.

* fix: transition.

* fix: import.

* fix: remove double goal hack, for now.

common/navigation/lasr_person_following/launch/joint_leg_tracker.launch

@@ -1,12 +1,15 @@
 <launch>
 
   <!-- params -->
-  <param name="forest_file" value="$(find leg_tracker)/config/trained_leg_detector_res=0.33.yaml" />
-  <param name="scan_topic" value="/scan" />
-  <param name="fixed_frame" value="odom"/>
-  <param name="scan_frequency" value="15"/>  
-  <param name="max_detect_distance" value="7.5"/>
-
+    <param name="forest_file" value="$(find leg_tracker)/config/trained_leg_detector_res=0.33.yaml" />
+    <param name="scan_topic" value="/scan" />
+    <param name="fixed_frame" value="odom"/>
+    <param name="scan_frequency" value="10"/>
+    <param name="max_detect_distance" value="5.0"/>
+    <param name="dist_travelled_together_to_initiate_leg_pair" value="0.5"/>
+    <param name="display_detected_people" value="true"/>
+    <param name="max_leg_pairing_dist" value="0.5"/>
+    <param name="max_std" value="0.9"/>
   <!-- run detect_leg_clusters -->  
   <node pkg="leg_tracker" type="detect_leg_clusters" name="detect_leg_clusters" output="screen"/>
 

common/navigation/lasr_person_following/launch/person_following.launch

@@ -1,14 +1,6 @@
 <launch>
 
  <include file="$(find lasr_person_following)/launch/joint_leg_tracker.launch">
-    <param name="forest_file" value="$(find leg_tracker)/config/trained_leg_detector_res=0.33.yaml" />
-    <param name="scan_topic" value="/scan" />
-    <param name="fixed_frame" value="odom"/>
-    <param name="scan_frequency" value="10"/>
-    <param name="max_detect_distance" value="5.0"/>
-    <param name="dist_travelled_together_to_initiate_leg_pair" value="1.0"/>
-    <param name="display_detected_people" value="true"/>
-    <param name="max_leg_pairing_dist" value="0.5"/>
  </include> 
 
  <node pkg="lasr_person_following" type="person_following.py" name="person_following" output="screen" />