Meaning of the move_base simple_attractor parameter?
Hello,
I am running the latest Electric Debian install on an Ubuntu 11.10 machine. I've spent several days tinkering with move_base parameters to get a simulated TurtleBot (physics off) to move to the four corners of a 1 meter square in an otherwise blank world/map (no obstacles). I wanted the simulated robot to hit the corners as closely as possible (xy_goal_tolerance: 0.05, yaw_goal_tolerance: 0.2), but the robot kept spinning in place when it was just a few centimeters from the goal.
Then I discovered the (undocumented?) simple_attractor parameter when playing around with dynamic_reconfigure and when I click this checkbox suddenly my problems go away and the robot makes it to the goal locations without spinning. So it would be nice to know what does this magic parameter mean?
Thanks!
patrick