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As can be inferred from previous section, spot turn to a specific heading at a waypoint can be achieved by copying that waypoint, changing the duplicates speed to zero, heading field to the desired heading and indicating absolute heading.


Turning plan waypoints into control commands for a vehicle

control-follow-waypoints takes the plan and the live navigation data and outputs the velocity, turn rate, and (for omni-directional robots vehicles) heading required to follow that plan.