Reval v1.1

New performance metrics including:

• RCU: # of ClearCostMaps recovery executed for unstuck robot

• RCL: # of ClearCostMaps layer recovery executed

• IRC: # of invalid rotation cmd

• ERG: # of error rotating on the goal
  DRMS: The square root of the average of the squared horizontal position errors, ; where standard deviation of the delta x and y, . Probability of 65%

• 2DRMS: Twice the Distance Root Mean Squared (DRMS) of the horizontal position error, . Probability of 95%

• CPE: The radius of circle centered at the true position, containing the position estimate with probability of 50%.

• RNS: robustness in narrow spaces, ; where Ns is the total narrow spaces in the gazebo environment, and passed_Ns is the narrow spaces that the robot successfully crossed.

Features:

• Added support for turn on/off gazebo and riviz visualization
• Added support for defining number of data points to be collected
• Added visualization of the results in terminal
• Automated installation script

Bug fixes

• Fixed the issue of spawning two husky in ROS Noetic
• Fixed the bug of always mission success even if the husky did not reach the goal
• Fixed random organization order bug in the Evaluation_results.csv
• Other positional bug fixes in the Odometery subscriber
• Inaccurate calculated distance bug fixed
• Fixed other performance improvement related issues