Add DWB path_follower critic - #146

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oscar-lima wants to merge 53 commits into

DFKI-NI:noeticfrom

oscar-lima:path-follower-critic

Commits on Oct 10, 2025

Commits on Oct 11, 2025

Commits on Oct 12, 2025

Prevent articulation forcing from regressing
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Publish articulation debug point cloud
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Hold intermediate goals until fully reached
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Align final goal selection with global tolerances
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Ensure skipped articulations are recovered
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Visualize intermediate goal tolerance
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Scale tolerance marker with local goal tolerance
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enforce intermediate goals in articulatiions
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add initial base rotational path alignment before starting to move linearly
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add missing lines of code on path progress
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merge intermediate goals and articulation goals
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bring back initial rotation and prioritize articulation goals over intermediate goals
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Adjusted the final-goal snapping logic so we only switch to the global plan’s last pose when that pose has already been selected as the current intermediate goal.
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prevent goal to steal the intermediate goal and follow the path instead, make sure first robot only rotates in place to align with path
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Added pruning of the global plan to prevent oscillations
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Avoid resetting path progress on timestamp-only plan updates
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Preserve plan progress when geometry-only replans arrive
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Tighten orientation handling for path progress
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Require yaw alignment when restoring progress
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Snap intermediate goals to final pose when nearby
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Commits on Oct 13, 2025

Commits on Oct 15, 2025

Merge pull request #9 from oscar-lima/codex/explain-snap-goal-mechanism-in-pfc
oscar-lima
authored

Commits on Oct 16, 2025

Commits on Oct 20, 2025