If the robot performs a pure rotational movement that takes long, it aborts

[airballking]

Due to this line only considering translational velocity:

nav_pcontroller/src/nav_pcontroller.cc

Line 283 in 3c83819

double velocity = sqrt(vx_ * vx_+ vy_ * vy_);

[airballking]

As discussed with @amaldo in person, the suggested fix seems to be: (1) expose separate thresholds for instantaneous linear velocity and instantaneous rotational velocity as ROS parameters, and (2) extend the check for stopping the robot to use a conjunction of both tests.

Optionally, users should be informed about the reason for aborting the action. Either by calling ROS_ERROR or by sending a message via diagnostics. Probably, ROS_ERROR is more appropriate.