{"action":"created","issue":{"url":"https://api.github.com/repos/squirrel-project/squirrel_driver/issues/130","repository_url":"https://api.github.com/repos/squirrel-project/squirrel_driver","labels_url":"https://api.github.com/repos/squirrel-project/squirrel_driver/issues/130/labels{/name}","comments_url":"https://api.github.com/repos/squirrel-project/squirrel_driver/issues/130/comments","events_url":"https://api.github.com/repos/squirrel-project/squirrel_driver/issues/130/events","html_url":"https://github.com/squirrel-project/squirrel_driver/issues/130","id":247393445,"number":130,"title":"switch between move_base planning and 8 DOF planning","user":{"login":"mzillich","id":4312487,"avatar_url":"https://avatars2.githubusercontent.com/u/4312487?v=4","gravatar_id":"","url":"https://api.github.com/users/mzillich","html_url":"https://github.com/mzillich","followers_url":"https://api.github.com/users/mzillich/followers","following_url":"https://api.github.com/users/mzillich/following{/other_user}","gists_url":"https://api.github.com/users/mzillich/gists{/gist_id}","starred_url":"https://api.github.com/users/mzillich/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mzillich/subscriptions","organizations_url":"https://api.github.com/users/mzillich/orgs","repos_url":"https://api.github.com/users/mzillich/repos","events_url":"https://api.github.com/users/mzillich/events{/privacy}","received_events_url":"https://api.github.com/users/mzillich/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":{"login":"federico-b","id":2829645,"avatar_url":"https://avatars3.githubusercontent.com/u/2829645?v=4","gravatar_id":"","url":"https://api.github.com/users/federico-b","html_url":"https://github.com/federico-b","followers_url":"https://api.github.com/users/federico-b/followers","following_url":"https://api.github.com/users/federico-b/following{/other_user}","gists_url":"https://api.github.com/users/federico-b/gists{/gist_id}","starred_url":"https://api.github.com/users/federico-b/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/federico-b/subscriptions","organizations_url":"https://api.github.com/users/federico-b/orgs","repos_url":"https://api.github.com/users/federico-b/repos","events_url":"https://api.github.com/users/federico-b/events{/privacy}","received_events_url":"https://api.github.com/users/federico-b/received_events","type":"User","site_admin":false},"assignees":[{"login":"federico-b","id":2829645,"avatar_url":"https://avatars3.githubusercontent.com/u/2829645?v=4","gravatar_id":"","url":"https://api.github.com/users/federico-b","html_url":"https://github.com/federico-b","followers_url":"https://api.github.com/users/federico-b/followers","following_url":"https://api.github.com/users/federico-b/following{/other_user}","gists_url":"https://api.github.com/users/federico-b/gists{/gist_id}","starred_url":"https://api.github.com/users/federico-b/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/federico-b/subscriptions","organizations_url":"https://api.github.com/users/federico-b/orgs","repos_url":"https://api.github.com/users/federico-b/repos","events_url":"https://api.github.com/users/federico-b/events{/privacy}","received_events_url":"https://api.github.com/users/federico-b/received_events","type":"User","site_admin":false},{"login":"philkark","id":9883499,"avatar_url":"https://avatars3.githubusercontent.com/u/9883499?v=4","gravatar_id":"","url":"https://api.github.com/users/philkark","html_url":"https://github.com/philkark","followers_url":"https://api.github.com/users/philkark/followers","following_url":"https://api.github.com/users/philkark/following{/other_user}","gists_url":"https://api.github.com/users/philkark/gists{/gist_id}","starred_url":"https://api.github.com/users/philkark/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/philkark/subscriptions","organizations_url":"https://api.github.com/users/philkark/orgs","repos_url":"https://api.github.com/users/philkark/repos","events_url":"https://api.github.com/users/philkark/events{/privacy}","received_events_url":"https://api.github.com/users/philkark/received_events","type":"User","site_admin":false}],"milestone":null,"comments":4,"created_at":"2017-08-02T13:42:15Z","updated_at":"2017-08-03T08:05:49Z","closed_at":null,"body":"The base controler as part of the full 8 DOF contoller accumulates drift. Also the 8 DOF planner does not replan when the path is no longer collision free.\r\nTherefore for long base trajectories move_base should be used (replans when obstacle appears, and uses precise localisation)\r\nI.e. manipulate locally using 8 DOF plan and control, with rather small base movements\r\n -> navigate near target position using move_base\r\n -> manipulate locally again\r\nThis way we get the best of both worlds.\r\nActually, there is nothing we have to do here. The top level planner takes care of moving between nav goals.\r\n"},"comment":{"url":"https://api.github.com/repos/squirrel-project/squirrel_driver/issues/comments/319898848","html_url":"https://github.com/squirrel-project/squirrel_driver/issues/130#issuecomment-319898848","issue_url":"https://api.github.com/repos/squirrel-project/squirrel_driver/issues/130","id":319898848,"user":{"login":"federico-b","id":2829645,"avatar_url":"https://avatars3.githubusercontent.com/u/2829645?v=4","gravatar_id":"","url":"https://api.github.com/users/federico-b","html_url":"https://github.com/federico-b","followers_url":"https://api.github.com/users/federico-b/followers","following_url":"https://api.github.com/users/federico-b/following{/other_user}","gists_url":"https://api.github.com/users/federico-b/gists{/gist_id}","starred_url":"https://api.github.com/users/federico-b/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/federico-b/subscriptions","organizations_url":"https://api.github.com/users/federico-b/orgs","repos_url":"https://api.github.com/users/federico-b/repos","events_url":"https://api.github.com/users/federico-b/events{/privacy}","received_events_url":"https://api.github.com/users/federico-b/received_events","type":"User","site_admin":false},"created_at":"2017-08-03T08:05:49Z","updated_at":"2017-08-03T08:05:49Z","body":"Depends how the controller has been implemented. Theoretically yes, practically maybe."}}
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