Enabling and Using Triangle Drive for accurate moves

[ToddR]

If you need your mobile robot to move to a location with a higher degree of accuracy than simply instructing it to move to a goal, you can use the Triangle Drive. Triangle Drive, similarly to docking, looks for two angled lines in the returned laser data which intersect to form a triangle. The robot then moves to this triangle and stops at a specified offset from the vertex. The attached guide should help you get started with the TriangleDriveTo and the TriangleDriveToAdvanced robot tasks.