When using vfh+amcl+wavefront in Stage (at least
1.3.x), it can happen that the robot gets stuck in an
oscillation, rotating back and forth as it tries to
turn to face a waypoint that is roughly behind the
robot. Don't know where the problem is here, but a
good place to start would be the logic in wavefront
that tells the robot which way to turn in order to face
the next waypoint. Might need some hyteresis there.
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