RootRework: Rotational Collisions #98
Description
I suppose this is something that we all know about, but nobody ever brought it up as an actual issue.
Here's a worst case scenario example:
example.mp4
Like how many times has a magni scraped a wall or hit something with the rear end when turning? Happens so often that I even set up foam bumpers on this one months ago without even thinking about it too much.
When we were only using sonars this wasn't really possible to detect or fix, but now that we have lidar support this should probably be added to prevent "magni in a china shop" situations.
The interesting thing is that it does actually slow down in these cases, which would imply it's actually detected something, but it doesn't really stop. So you get slow scraping against walls instead of fast scraping at least 😄.