Modified primitive motions

There is pre-defined primitive motions for Care-o-bot 4 in includes/mprim. Not all of them work fine with the navigation system, some suggestions are presented below. Besides, generating new primitive motion set is available, following this instruction and noticing the resolution of used map cause that is common reason for creating an unreadable primitive set.

Suggestions

1. cob_edited.mprim - movement is combination of short/medium straight line even in turning action.
2. cob_unicycle_new.mprim - movement is combination of short/medium straight line and in-place rotation. Turning action is smoothier.
3. full_prim_motion.mprim - forward, backward, turn-in-place, forward-turn-arcs, backward-turn-arcs, strafing left/right and diagonal move.

Using other primitive set

The primitive set could be updated through rosparam server.

rosparam set /move_base_node/SBPLLatticePlanner/primitive_filename {primitive motion file (*.mprim) directory}