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

Heading cost weighted by the number of samples.

cfg/AckermannLocalPlanner.cfg

@@ -81,6 +81,8 @@ gen.add("max_steer_acc",           double_t,  0,                               "
 gen.add("axis_distance",           double_t,  0,                               "distance between axes",          1.65,     -2.0,    2)
 gen.add("wheel_distance",          double_t,  0,                               "distance between wheels",        1.2,      0,    2)
 gen.add("wheel_radius",            double_t,  0,                               "Wheel diameter",                 0.436,    0,    2)
+gen.add("use_trans_vel_deadzone",  bool_t,    0,                               "Whether to use a deadzone in the translational velocity or not", False)
+gen.add("trans_vel_deadzone",      double_t,  0,                               "Translatinal velocity minimum value", 0.1,0.01,1.0)
 gen.add("split_ignore_length",     double_t,  0,                               "Paths segments under this length will be ignored",1.0,0.0,2.0)
 gen.add("cmd_vel_avg",             int_t,     0,                               "Number of cmd_vel to average",   1,        1,    20)
 gen.add("odom_avg",                int_t,     0,                               "Number of odom to average",      1,        1,    20)