Offcycle Iron Sync 7: May 30, 2024#4383
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SteveMacenski merged 3 commits intoironfrom May 31, 2024
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…#4371) Signed-off-by: Joni Pöllänen <joni.pollanen@karelics.fi>
When arriving in the goal xy tolerance, the rotation shim controller takes back the control to command the robot to rotate in the goal heading orientation. The initial goal of the rotationShimController was to rotate the robot at the beginning of a navigation towards the paths orientation because some controllers are not good at performing in place rotations. For the same reason, the rotationShimController should be able to rotate the robot towards the goal heading. Signed-off-by: Antoine Gennart <gennart.antoine@gmail.com>
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Off typical cycle sync requested for Iron to obtain a costmap locking issue. Includes all PRs from Mar 23 to present (May 30)