Add DWB path_follower critic - #146
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…l plan’s last pose when that pose has already been selected as the current intermediate goal.
…ad, make sure first robot only rotates in place to align with path
Avoid resetting path progress on timestamp-only plan updates
…-and-republish-global-plan Add global plan debug visualization
…logic-in-pathprogresscritic Fix PathProgressCritic final goal handling
…obal plan visualization as it is the one the critic receives
…-path_follower Add dedicated path follower critic
…sformed_global_plan Use transformed global plan orientation in path follower critic
…sm-in-pfc Remove snap goal mechanism from path follower critic
manual cleanup
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Hi Oscar, I didn't get around to testing this. I just noticed that the test is failing because it doesn't have a license header (see above). Is there a way to integrate |
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Maybe, let me check. Otherwise I can make the necessary changes so that the pre-commit checks pass. |
Fix formatting per pre-commit feedback
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Yeah, it was able! |
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NOTE: Robot speed is reduced under current physics settings; enabling fast physics mitigates the problem
Tested in simulation; navigation through tight spaces shows improvement.
Final NOTE: Made almost entirely by OpenAI codex under my multiple and detailed instructions over several days.