Artem Vasyunik

That's a very sensible thing to do. Was thinking about doing something like that to prevent loops when near goal myself - it may be possible to use `GoalReached` BT...

> This implies that incorporating a viewpoint-agnostic global localization step before selecting nearby submaps could greatly improve robustness. Perhaps even crude sampling-based approach would work for initialization - as in,...

@stonier Hello! Sorry to bother you, is there any plans to port or solutions for running `py_trees_ros_viewer` on ROS2 Humble? I've tried downloading the source and building it - which...

Great ideas above, good to see improvements to Graceful controller which is my favorite so far. Tacking on some possible improvements: * Not just interpolating but extrapolating (extending) original paths...