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bounds to find path closest point for NHP#17
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artofnothingness merged 1 commit intoartofnothingness:developfrom Mar 22, 2022
Merged
bounds to find path closest point for NHP#17artofnothingness merged 1 commit intoartofnothingness:developfrom
artofnothingness merged 1 commit intoartofnothingness:developfrom
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artofnothingness
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bounds to find path closest point for NHP
artofnothingness
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bounds to find path closest point for NHP
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This helps us bound the potential points forward on the path to use for finding the closest point. That way we do not search the full path in case there is a path point infinitesimally closer than the "real" point and the robot jumps to another part on the path when there are loops or intersections in the path.
Updated to use tools as RPP uses in Nav2 to solve this problem from ros-navigation/navigation2#2812 reviewed by multiple engineers