To compute if a segment is backward or forward, only use the part of the...

See merge request !8

To compute if a segment is backward or forward, only use the part of the segment inside the costmap.

Cleaned up the code:

See merge request !7

Merge branch '1-list-of-bugs-discovered-developing-follow_local_planner-branch-splines' into 'splines'

Fixed listed bugs

See merge request !6

Removed trajectory candidates with too much curvature.

If the robot is far from the goal, do not consider the goal as reached when the robot passes through it.

Solved a bug: The current position of the robot was not taken into account when generatng the trajectory candidates.

Taken into account the circumscrived radius of the footprint to check for the local goal on the path.

Taken into account the worst case rotations of the footprint at the farthest point of the trajectory to check if it is fully contained in the local costmap.

Taken into account that the footprint does not get out of the costmap to avoid problems with the obstacle cost function computation.

It is now possible two switch between splines and standard trajectory generator using the dynamic reconfigure.
Added a private node handle.

Computed the lateral distance to the desired path to complete the stanley controller for the steering.

Detected when the robot passes through the goal but farther than the xy tolerance: Used to skip to the next goal (particular solution).

The velocity dead zone is applied when generating the velocity samples to check.
The past cost uses all the path points, not only the last one.
Version using splines operational in simulation.

Used the robot pose taken from the costmap in the odom frame (TF) to get the current position of the robot (instead of the odom topic.
The rest of Twist and covariance values of the odom topic are still used.

It does not work moving backward.
It often fails because the goal is outside the local costmap.

  Removed some parameters not used.
  Used the dynamic reconfigure data structure instead of the limits module.

Solved a bug in the heading cost function: If the trajectory had less points than the ones reuired to compute the cost, the node crashed.

Rename stucked with stuck. Add parameters to enable/disable the stuck check and change the vel threshold and max occurrences.

Add bool param to invert cmd_vel steering value. Add bool param to enable/disable inplace steering change before each maneuver

Added a new parameter to generate the steer angle instead of the angular speed for the control.

See merge request !3