Issue with reverse capabalities in RsBand planner

[darshan-d022]

Case 1: emergency_planning: True and the path for the robot to go in the reverse direction Dyaw value becomes greater than the set logic (dyaw > m_PI/2) for a path behind the robot and when emergency planning is set to true, keeps printing 'Reeds Shepp planning failed, attempting emergency planning' and also no command_vel output.

Case 2: emergency_planning: False and the path for the robot to go in the reverse direction In fuzzy controller, the drcn variable fluctuates between -1 and 1 constantly due to ea's fluctuation. This causes the robot to oscillate forward and backward (+ve and -ve velocity commands).

[gkouros]

I haven't had the first issue before, but the second one, I'm aware of it. Unfortunately, I don't have the time to look into this, but if you find a solution, feel free to submit a PR. :)