Result:
The robot can identify the boundary, patrol around it, and manipulate objects.
- Add some kind of simple trajectory calculation when we generate the target position. If there are other objects close the trajectory, we should really pick another one so we can avoid collision.
- Add some visual feed back during the moving part, for now, once we calculate the destination, we just tell XWalkNode to get the robot there, but it usually ends up with some error. We bypassed this problem by setting a max range for displacement. But adding some feedback and adjustment is essential for really large scenario.