Navigation tuning: getting through doorways

[nickswalker]

While doing inspection runs, it became clear that even our wide doorway was causing the planner to pause and look for alternative routes. I decreased the inflation radius enough that it would eventual decide to go through, but it would still frequently require a recovery behavior to fire first. This is may also be a problem for approaching tables for manipulation, though I haven't tested this yet.

• Let's start by looking through the config files and adjusting the parameters to the cost maps and planners
• If this doesn't work well enough, let's swap the planner for one of the other planners available in the ROS navigation stack
• We may also consider e-band, which BWI adopted with some success for going through doors. There are at least a few implementations available: teb, and bwi's.