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robot rotates in-place if the yaw error is beyond 45 degrees #36

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robot rotates in-place if the yaw error is beyond 45 degrees #36

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8 changes: 8 additions & 0 deletions src/NeoLocalPlanner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -656,6 +656,14 @@ geometry_msgs::msg::TwistStamped NeoLocalPlanner::computeVelocityCommands(
control_yawrate = fmin(control_yawrate, m_last_cmd_vel.angular.z + acc_lim_theta * dt);
control_yawrate = fmax(control_yawrate, m_last_cmd_vel.angular.z - acc_lim_theta * dt);

// Avoiding arc trajectories and keeping the robot inside the global plan
if (abs(yaw_error) > M_PI / 6 && !is_goal_target) {
control_vel_x = 0;
control_vel_y = 0;
RCLCPP_INFO_THROTTLE(
logger_, *clock_, 2000.0, "Changing the course of navigation");
}

// fill return data
if (m_robot_direction == -1.0) {
cmd_vel.linear.x = fmax(
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