in this run the door is 110cm wide but getting through was quit hard. A lot more work
will be required adjusting the parameters. Robbie has a habit of spinning in place trying
to find a solution. The cost map and size of the robot have a large bearing on behavior
Here is a picture of Robbie in Rviz showing the gap after the infatuation of the cost map
when there is no clear path through, the robot will spin in place to find a clear path.
now the fun starts learning to drive by setting nav goals