Additional Behavior Server Primitives

[SteveMacenski]

Perhaps provide some basic behaviors like

• rotate to sp. heading
• Drive on heading for X distance (recommission backup plugin)
• assisted teleop
• Wiggle (or concat 3 spins) -N deg, +2N deg, -N deg to wiggle back to the original orientation
• Back out of recent buffer of commands bc bad situation as recovery, then retry with another algo - or backward potential field

[sathak93]

@SteveMacenski i like to try on rotate to specific heading behaviour. could you elaborate on it.?

[SteveMacenski]

It would be

• Making a behavior to have the robot rotate to a desired relative heading (e.g. +90 or -90 from current orientation)
• Making a BT node for use of that behavior
• Adding appropriate tests for both

When combined with drive on current heading, we should be able to make a BT of a robot driving in a square pattern combining them

[sathak93]

@SteveMacenski Why cant we use spin behaviour for this? Spin can rotate the robot to particular degree from current pose.

[SteveMacenski]

It probably can be, just needs to be rescoped potentially

[jwallace42]

I think adding a BT node for spin without increasing the recovery counter would be useful. I don't think we would need to change anything else.

[SteveMacenski]

Maybe a similar analog to your backup --> drive on heading conversion?

[jwallace42]

The changes for the drive on heading added the ability to drive forward and retained the backup action.

I don't think there is any new functionality that we would need to support(I might be missing something though!).

[SteveMacenski]

The wiggle behavior can be made by concatenating the spins in the BT with a sequence node. The backout of buffer of commands should be worked on in response to a specific issue. Else, we may prefer to instead have a simple trajectory planner that tries to move a robot into free space instead as a recovery with potential field methods.

Either way, its something to be readdressed when the need arises. Assisted teleop is covered by another ticket