Dear turtlebot: Quit turning around.

[ahubers]

After sending a nav goal, it's common for the turtlebot/robot to turn around and, I presume, try to figure out where it's at. Or perhaps it's upset that you told it to go somewhere I can't. Regardless, we don't want the end users to experience this -- we want them to say 'go forward' and have the robot move forward then stop.

We've considered changing some parameters on the rosparam server (perhaps dynamically?) to fix this.

[xiuda]

Hey alex, is this fixed?

[ahubers]

Sort of. The issue of the robot doing the hokey pokey once the user says to stop is solved. However, there are still cases where the robot will finish nav goal and have issues orienting itself. This may be solved by lowering the yaw tolerance within the param yaml. I believe the issue is either a.) The robit loses track of itself and what we're observing is a recovery case, or b.) the yaw tolerance is set too low. Either way I am also interested to see if this behavior ceases when transitioning to the PR2 -- so I suppose we will wait to do any serious debugging until its observed on that robit.