Changing robot to an center articulated four wheeled robot

[zonared]

Hi there Reinis, thankyou so much for writing such a complete deep learning ROS system, it was pretty fun to watch the pioneer3dx robot learn how to navigate, then come back a day later and it was happily finding its goal, so cool.

So, being inspired by that, I thought I would try to load my robot into the sim, which for the most part I have (see below), but I need to tweak a few things in your DRL code but I'm not sure quite how. Firstly my robot interprets angular velocity as steering angle (like TEB local planner cmd_angle_instead_rotvel, will this effect things much? Also steering is limited +-0.5rad. Also my robot can drive backwards and I cant quite find the right place allow this.

How would all these changes effect the actor and critic weights and so on? Also I note that min_laser feeds into the rewards as well, but my robot is a rectangle, so a radius value might not work that well, maybe? Again, thanks heaps.