I never got turning in place with VFH working. I basically hacked
around it - when I want to turn in place I call the velocity driver
directly using a (hacked) PID controller and the odometry.
You could try wrapping it in some code like this:
if angle_to_goal is big:
turn to face goal
vfh to goal
Perhaps even write a new "smart vfh" player driver to add that behavior...
Roozbeh Mottaghi wrote:
>I wanted to tweak VFH parameters (e.g. safety_dist,
>free_space_cutoff, weight_desired_dir,...) so that the
>robot turns in place when the target is behind the
>robot but it seems the parameters are not used in
>Player(I got a couple of warnings like: robot.cfg:91
>warning: field [safety_dist] is defined but not used).
>I checked the code and there were different
>parameters. Would you send me an email and tell me
>which parameters I should play with. Would you also
>tell me for example what the difference is between
>safety_dist_ms0 and safety_dist_ms1.
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