make minimum_travel_heading work

[zengxiaolei]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #1)
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)

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Description of documentation updates required from your changes

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[SteveMacenski]

Overall, I'm not sure this should be merged, but it is more technically correct. What's the issue you're running into this solves? I've typically found that updating a slam problem with pure rotation moves is a recipe for delocalization.

[Lrk114]

Hi @SteveMacenski
Many thanks for this package which is just amazing!
Would it be ok if we were to add an extra parameter to turn this feature on or off?
Indeed we might need this for some of our projects..
Many thanks in advance

[redvinaa]

Nice catch! I was facing some issues with this. Originally the minimum_travel_heading parameter existed but it was never used, which was misleading. Also, I think a separate parameter should not be necessary to disable this feature, since having it seems like the intended behavior.

[zengxiaolei]

make minimum_travel_heading work

[zengxiaolei]

normalize HeadingDifference

[zengxiaolei]

normalize HeadingDifference