Navigation stack behavior for baseline configuration

[jubeira]

The standard turtlebot running on Linux with and empty map and wheel odometry behaves different than the tangobot running the navigation stack on Android with the same configuration (Navfn & DWA local planner, standard launchfiles).

In particular, it takes more time to reach a given goal (slower movements), and it may get stuck when a goal is given behind the robot, oscillating to both sides until it aborts all plans.

These differences require further investigation.

• Navigation stack libraries version #44 describes one of the possible causes for these differences.
• Test differences between Linux and Android versions of move_base #46 describes a way of analyzing the differences.

[jubeira]

Update: running the navigation stack on a computer based on the robot's input data yields the same result. Apparently, the difference in the behavior has some other cause to be investigated further.

One candidate for this difference is base_controller, which is one of the few remaining differences between the Linux and the Android demo.

[jubeira]

(See updates in #46)