From 4596b1f1a6b97b25913353ce5c1216e211274984 Mon Sep 17 00:00:00 2001 From: Jeremy Salwen Date: Sun, 22 Sep 2024 18:15:19 +0000 Subject: [PATCH] Add Backward/Forward recovery behavior --- src/lib/ftc_local_planner | 2 +- src/open_mower/params/move_base_flex.yaml | 6 ++++++ 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/src/lib/ftc_local_planner b/src/lib/ftc_local_planner index 94e75889..b76d82b2 160000 --- a/src/lib/ftc_local_planner +++ b/src/lib/ftc_local_planner @@ -1 +1 @@ -Subproject commit 94e758895fbb6888e2aa3426144e8052c5a241c5 +Subproject commit b76d82b204b2bbe34ffa0f7ecf08de9893749aef diff --git a/src/open_mower/params/move_base_flex.yaml b/src/open_mower/params/move_base_flex.yaml index 50a8b5a4..44571fea 100644 --- a/src/open_mower/params/move_base_flex.yaml +++ b/src/open_mower/params/move_base_flex.yaml @@ -8,6 +8,9 @@ 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 @@ -15,5 +18,8 @@ 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