Eitan,
I compiled the pose_follower and loaded it instead of the
base_local_planner. But still I am missing something. rviz does not show
a global plan any more. The robot moves, but backwards and the log gives
me the "Not legal" error from pose_follower.cpp line 169.
My launch files look like this and I think by kicking out the
base_local_planner I damaged something vital.
************ move_base.launch
***********pose_follower_params.yaml
base_local_planner: pose_follower/PoseFollower
PoseFollower:
max_vel_x: 0.4
min_vel_x: 0.05
max_rotational_vel: 0.4
min_in_place_rotational_vel: 0.15
acc_lim_th: 3.2
acc_lim_x: 2.5
acc_lim_y: 2.5
holonomic: false