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Added move coords behavior

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Pimpest
2026-03-05 00:17:49 +01:00
parent f5e08389e2
commit e496e193d1
9 changed files with 317 additions and 1 deletions
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4
toid_navigation/params/toid_general_params.yaml
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@@ -22,7 +22,7 @@ behavior_server:
local_footprint_topic: local_costmap/published_footprint
global_footprint_topic: global_costmap/published_footprint
cycle_frequency: 50.0
behavior_plugins: ["backup", "spin", "drive_on_heading", "assisted_teleop", "wait", "rotate", "translateX"]
behavior_plugins: ["backup", "spin", "drive_on_heading", "assisted_teleop", "wait", "rotate", "translateX", "moveCoords"]
spin:
plugin: "nav2_behaviors::Spin"
backup:
@@ -39,6 +39,8 @@ behavior_server:
max_angular_decel: 1.0
translateX:
plugin: "toid::SimpleTranslateXBehavior"
moveCoords:
plugin: "toid::MoveCoords"
local_frame: map
global_frame: map
robot_base_frame: base_footprint