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Regular Pure Pursuit : Allow Reversing feature #2551

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kamakshijain opened this issue Sep 7, 2021 · 1 comment
Closed

Regular Pure Pursuit : Allow Reversing feature #2551

kamakshijain opened this issue Sep 7, 2021 · 1 comment

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@kamakshijain
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Hi
I believe based on my question here
https://answers.ros.org/question/375436/smac-planner-is-it-possible-to-make-the-robot-reverse-without-changing-heading/
navigation2 team has worked to bring allow_reverse parameter to RPP.
I was wanting to work with it but Galactic Debian is currently using Galactic Sync 2 from Navigation2 upstream whereas the changes to allow reversing in RPP were made for Galactic Sync 3. #2443

Can you please give a tentative timeline for when we will have Galactic Sync 3 available in the Debian, especially the reversing feature.

Required Info:

Expected behavior

Robot was able to reverse i.e move backwards without changing its heading.

Actual behavior

Robot turned its heading and navigated towards the goal.

@SteveMacenski
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I plan to do a sync against the distributions sometime this month, I've just been slammed. I would tentatively plan on Sept 15-17 as a timeline I could get one done in.

Thanks for the reminder, it has been quite awhile since I synced the distributions. I added it to my calendar to do it mid-week next week.

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