bosch-ros-pkg/navigation — pull request #22 by sachih (2014-08-26 23:18:58+00:00)
Title: added option to score the heading of the rotate in place trajectories - ...

Added option to enable rotate in place trajectories to be scored for the heading difference.

Currently it scores all rotate-in-place trajectories the same - which can lead to the wrong rotate-velocity being picked (which would be noticeable at the start)

Enable with heading_scoring_on_rotate

Set the heading_scale to set the weight - suggest setting a small value - so that it doesn't result in weird weighting behavior (suggested 0.001)