ROS Nav Stack - Obtaining correct heading at the goal without final pointturn
Hi I am using ROS Indigo with the Navigation stack on a holonomic vehicle. The planning overall seems to work
However, once the robot reaches the XY goal it does a final pointturn. Is there a way to have it plan an arc so that when the destination is reached the heading is already correct?
It also seems to now like holonomic motions. Is there a way to bias the planner to use more holonomic motions (note: the planner has holonomic set to true).
Thanks