[jeremysalwen]

It does not have obstacle avoidance, the best it has is recognizing it keeps getting stuck and skipping the next goal until it finds a goal it can reach. This can often look like obstacle avoidance since the next goal might be in a slightly different direction and so it will be able to continue. This is aided by a new feature that I added which will make the mower back up first when it gets stuck before continuing.

However, I should note that it's a hackable ROS system, so people have added obstacle detection with various sensors on their mowers. There is just not official support or a standard way to do it.

I've mowed with it this summer and last summer, and there hasn't been downtime at much as repeatedly getting stuck and requiring me to bring it back to the dock (although less and less). But my lawn is probably the hardest lawn any Openmower mows, as I mentioned in a cousin comment.