Support bi-directional driving

[g-ise]

How to support 4WS vehicle to drive bi-directionally

We work on a vehicle with 2 steering axles and are trying to run it bi-directionally. The current ideas are

• Add virtual base_link and switch this in accordance to gear state
  or
• Adapt planner modules so that they can deal with reversed trajectory along with given goal pose

It would be great if we can discuss topics related to supporting the bi-directional driving function in this thread.
Ex)
The position of base_kink. This difference, base_link at the center of the vehicle or rear axle, has pros and cons over multiple modules. AFAIK, placing base_link at the center of the vehicle requires a change of models in EKF and MPC.