Add Backward/Forward recovery behavior

ClemensElflein · Sep 23, 2024 · 4596b1f · 4596b1f
1 parent 62c4f97
commit 4596b1f
Show file tree

Hide file tree

Showing 2 changed files with 7 additions and 1 deletion.
diff --git a/src/lib/ftc_local_planner b/src/lib/ftc_local_planner
diff --git a/src/open_mower/params/move_base_flex.yaml b/src/open_mower/params/move_base_flex.yaml
@@ -8,12 +8,18 @@ controllers:
   - name: DockingFTCPlanner
     type: ftc_local_planner/FTCPlanner
 
+recovery_behaviors:
+  - name: BackwardForwardRecovery
+    type: ftc_local_planner/BackwardForwardRecovery
 
 controller_frequency: 1.0
 controller_patience: 30.0
 
 planner_frequency: 1.0
 planner_patience: 5.0
 
+recovery_enabled: true
+recovery_patience: 5.0
+
 oscillation_timeout: 10.0
 oscillation_distance: 0.2
+4 −2		CMakeLists.txt
+41 −0		include/ftc_local_planner/backward_forward_recovery.h
+1 −1		include/ftc_local_planner/ftc_planner.h
+4 −4		include/ftc_local_planner/oscillation_detector.h
+4 −2		package.xml
+7 −0		recovery_plugin.xml
+130 −0		src/backward_forward_recovery.cpp
+1 −1		src/oscillation_detector.cpp