New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Robustify moveTo #132

Merged

mbusy merged 1 commit into ros-naoqi:master from mbusy:robust_movebase

Feb 13, 2020

Member

mbusy commented Feb 6, 2020

This PR aims to robustify the callback of moveto.cpp:

The PoseStamped message can only be referenced in "base_footprint" (FRAME_ROBOT) or in "odom" (FRAME_WORLD), no movement will be launched if another frame is specified
If the quaternion of the PoseStamped message is invalid, the corresponding yaw will be set to 0.0 (nan before, could make the robot fall)


          Safer moveTo: only odom and base_footprint are accepted as references…

11ecd6a

…, and check if yaw is nan

mbusy merged commit 460e778 into ros-naoqi:master

mbusy deleted the robust_movebase branch

February 13, 2020 16:34

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment