Hauler Behaviors

[Carter90]

Did we want do have a behavior that loosely trailed the excavator and it was not until it arrived at a volatile to move into position to get a volatile dumped from the excavator?

[gmfricke]

Yes for time but need to stay far enough away to be safe

[Carter90]

I'm thinking something like having 3 behaviors for the hauler for round 2

• Loose fallow or drive to the same volatile but stop 10m short
• Final approach to the excavator may have to ignore obstacles and get the final distance from Lidar and then publish the heading towards excavator or just its pose if the odom is good then the excavator can use its pose compared and get a headig
• Back away / get out of the way