AMRNAV-6916 Goal checker: Check for x and y separately #89
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Basic Info
Description of contribution
Reason for change:
There is often a tradeoff while reaching goals: We want the AMR to drive as close as it can to the goal, without oscillating close to it. The AMR can easily adjust its x-coordinate compared to the goal by driving forward or backwards.
However, it cannot drive sideways, so it cannot correct sideways error easily. Instead, then it has to drive forward, turn, and drive backwards again.
Thus: We want to split the checker to check directions individually in the goal frame. Currently one can already pass "yaw". Please add options to pass "x" and "y" as well. Then
if "x" or "y" is defined, also check these values
if "xy" is not defined in the BT node, use "infinite" by default.
Changes in this PR:
Result:
x and y are checked separately