Changes to get feijoa demo working with 621-outside map #7
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Pull Request Overview
This PR enables the Feijoa demo to work with the 621-outside map by adding new utility functions, updating navigation functions, and revising mapping metadata.
- Added a utility function get_se2_distance for computing Euclidean distances.
- Introduced a new precise navigation routine (navigate_to_absolute_pose_precise) and updated calls in exec_plan.py.
- Updated edge snapshot files and mapping documentation in the README.
Reviewed Changes
Copilot reviewed 239 out of 239 changed files in this pull request and generated 1 comment.
Show a summary per file
| File | Description |
|---|---|
| spot_utils/utils.py | Added get_se2_distance to compute Euclidean distances between SE2 poses. |
| spot_utils/graph_nav_maps/outside-621/edge_snapshots/edge_snapshot_id_carven-angler-6dUv3NnhHWdPOOU36y+eEw== | Added edge snapshot file with a numeric prefix in its contents. |
| spot_utils/graph_nav_maps/outside-621/edge_snapshots/edge_snapshot_id_ane-syphon-WgF8TQA5by29Onmt7bAc7w== | Added edge snapshot file with a numeric prefix in its contents. |
| skills/spot_navigation.py | Introduced navigate_to_absolute_pose_precise and updated navigation logic (including print statements). |
| exec_plan.py | Updated navigation calls to use the new precise navigation function and modified metadata usage. |
| README.md | Expanded mapping documentation with updated mapping workflow instructions. |
Comments suppressed due to low confidence (2)
spot_utils/graph_nav_maps/outside-621/edge_snapshots/edge_snapshot_id_carven-angler-6dUv3NnhHWdPOOU36y+eEw==:2
- The numeric prefix '7' in the edge snapshot ID might be unintentional; please confirm if this format is expected.
7edge_snapshot_id_carven-angler-6dUv3NnhHWdPOOU36y+eEw==
spot_utils/graph_nav_maps/outside-621/edge_snapshots/edge_snapshot_id_ane-syphon-WgF8TQA5by29Onmt7bAc7w==:2
- The numeric prefix '4' in this snapshot ID appears unusual; please verify that this prefix is intended.
4edge_snapshot_id_ane-syphon-WgF8TQA5by29Onmt7bAc7w==
| robot_pose = localizer.get_last_robot_pose() | ||
| robot_se2 = robot_pose.get_closest_se2_transform() | ||
| curr_dist_to_target = get_se2_distance(robot_se2, target_pose) | ||
| print(curr_dist_to_target) |
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[nitpick] Consider replacing print statements with an appropriate logging mechanism for better production-level output control.
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WIP