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I think that it is fine for these values to be zero because on the real robot the yostlab driver can add an offset which allows for the IMU to report zero when facing east. Thus, having the simulated IMUs report zero when facing east should be fine.
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Description
Fixes ghost obstacles in traversability layer by applying morphological transforms.
This PR does the following:
Fixes #836
Testing steps (If relevant)
Test Case 1
roslaunch igvc_gazebo ramp_lane.launchroslaunch igvc_navigation navigation_simulation.launchExpectation: Robot able to navigate over ramp smoothly without any ghost obstacles.
Self Checklist
make format