straf_recovery repository

Repository Summary

Checkout URI https://github.com/PeterMitrano/straf_recovery.git
VCS Type git
VCS Version master
Last Updated 2016-07-13
Dev Status UNMAINTAINED
Released UNRELEASED

Packages

Name Version
straf_recovery 0.0.0

README

straf_recovery Build Status

A move_base recovery behavior plugin for omni directional robots. It will drive away from the nearest obstacle in the local costmap, constantly checking for new nearest obstacles. This often means lots of silly oscillation. It will also straf directly towards the goal if it is within some threshold.

parameters:

  • go_to_goal_distance_threshold
  • minimum_translate_distance
  • maximum_translate_distance
  • straf_vel
  • timeout
  • frequency
  • xy_goal_tolerance

Timeout rules all. Then comes minimum and maximum distance. Straf velocity is constant.

See the ros wiki for possibly more details: http://wiki.ros.org/straf_recovery