From b4cbe39f93ddbd7272386b5334ef1d9b4d53c268 Mon Sep 17 00:00:00 2001
From: Sean Donaghy <118148642+SPDonaghy@users.noreply.github.com>
Date: Sat, 7 Mar 2026 12:35:47 -0800
Subject: [PATCH 1/7] reduce global path spacing/state space size from 30km to
 3km

---
 src/global_launch/config/globals.yaml              |  2 +-
 .../local_pathfinding/mock_nodes/wind_params.yaml  |  9 ++++-----
 .../local_pathfinding/node_navigate.py             |  6 +++---
 .../local_pathfinding/ompl_path.py                 | 14 ++++++++------
 4 files changed, 16 insertions(+), 15 deletions(-)

diff --git a/src/global_launch/config/globals.yaml b/src/global_launch/config/globals.yaml
index adfff3a5c..48af86fb5 100644
--- a/src/global_launch/config/globals.yaml
+++ b/src/global_launch/config/globals.yaml
@@ -9,7 +9,7 @@
 mock_global_path:
    ros__parameters:
       global_path_filepath: "/workspaces/sailbot_workspace/src/local_pathfinding/global_paths/mock_global_path.csv"
-      interval_spacing: 30.0
+      interval_spacing: 3.0
       write: false
       gps_threshold: 1.5
       force: false
diff --git a/src/local_pathfinding/local_pathfinding/mock_nodes/wind_params.yaml b/src/local_pathfinding/local_pathfinding/mock_nodes/wind_params.yaml
index 3378a2fdf..4c773b8d5 100644
--- a/src/local_pathfinding/local_pathfinding/mock_nodes/wind_params.yaml
+++ b/src/local_pathfinding/local_pathfinding/mock_nodes/wind_params.yaml
@@ -1,9 +1,8 @@
 /mock_wind_sensor:
   ros__parameters:
-    tw_dir_deg: 0
-    tw_speed_kmph: 0.0
-
+    tw_dir_deg: 80
+    tw_speed_kmph: 10.0
 /mock_gps:
   ros__parameters:
-    tw_dir_deg: 0
-    tw_speed_kmph: 0.0
+    tw_dir_deg: 80
+    tw_speed_kmph: 10.0
diff --git a/src/local_pathfinding/local_pathfinding/node_navigate.py b/src/local_pathfinding/local_pathfinding/node_navigate.py
index fa61e2a72..b59246515 100644
--- a/src/local_pathfinding/local_pathfinding/node_navigate.py
+++ b/src/local_pathfinding/local_pathfinding/node_navigate.py
@@ -1,18 +1,18 @@
 """The main node of the local_pathfinding package, represented by the `Sailbot` class."""
 
-import custom_interfaces.msg as ci
 import rclpy
 from rclpy.node import Node
+from test_plans.test_plan import TestPlan
 
+import custom_interfaces.msg as ci
 import local_pathfinding.coord_systems as cs
 import local_pathfinding.global_path as gp
 import local_pathfinding.obstacles as ob
 from local_pathfinding.local_path import LocalPath
 from local_pathfinding.ompl_path import MAX_SOLVER_RUN_TIME_SEC
-from test_plans.test_plan import TestPlan
 
 GLOBAL_WAYPOINT_REACHED_THRESH_KM = 3
-PATHFINDING_RANGE_KM = 30
+PATHFINDING_RANGE_KM = 3.0
 REALLY_FAR_M = 100000000
 
 
diff --git a/src/local_pathfinding/local_pathfinding/ompl_path.py b/src/local_pathfinding/local_pathfinding/ompl_path.py
index b56ea645e..8bc4d7f08 100644
--- a/src/local_pathfinding/local_pathfinding/ompl_path.py
+++ b/src/local_pathfinding/local_pathfinding/ompl_path.py
@@ -13,13 +13,13 @@
 import pickle
 from typing import TYPE_CHECKING, Any, Union
 
-import custom_interfaces.msg as ci
 from ompl import base
 from ompl import geometric as og
 from ompl import util as ou
 from rclpy.impl.rcutils_logger import RcutilsLogger
 from shapely.geometry import MultiPolygon, Point, Polygon, box
 
+import custom_interfaces.msg as ci
 import local_pathfinding.coord_systems as cs
 import local_pathfinding.obstacles as ob
 from local_pathfinding.ompl_objectives import get_sailing_objective
@@ -29,7 +29,7 @@
 
 ou.setLogLevel(ou.LOG_WARN)
 
-BOX_BUFFER_SIZE_KM = 1.0
+BOX_BUFFER_SIZE_KM = 2.0
 # for now this is statically defined and subject to change or may be made dynamic
 MIN_TURNING_RADIUS_KM = 0.05  # 50 m
 # sets an upper limit on the allowable edge length in the graph formed by the RRT* algorithm
@@ -37,7 +37,7 @@
 # valid but the segment straddles an obstacle collision zone
 # setting this any smaller can lead to OMPL not being able to construct a tree that reaches
 # the goal state
-MAX_EDGE_LEN_KM = 5.0
+MAX_EDGE_LEN_KM = 0.5
 MAX_SOLVER_RUN_TIME_SEC = 1.0
 
 LAND_KEY = -1
@@ -276,9 +276,11 @@ def get_remaining_cost(self, last_lp_wp_index: int, boat_lat_lon: ci.HelperLatLo
 
             # clamp to [0, total_seg_dist]
             if projected_dist > total_seg_dist:
-                self._logger.warning("Projection of the boat position wrt" +
-                                     "the segment is longer than the segment itself," +
-                                     "the boat should've switched local waypoint by this point")
+                self._logger.warning(
+                    "Projection of the boat position wrt"
+                    + "the segment is longer than the segment itself,"
+                    + "the boat should've switched local waypoint by this point"
+                )
                 # assuming pessimistic case
                 projected_dist = total_seg_dist
             elif projected_dist < 0.0:

From 4c1438d9a0d346b689e3ac6d5933a3e088720797 Mon Sep 17 00:00:00 2001
From: Sean Donaghy <118148642+SPDonaghy@users.noreply.github.com>
Date: Sat, 7 Mar 2026 13:34:16 -0800
Subject: [PATCH 2/7] fix tests

---
 .../test/test_node_navigate.py                |  5 +-
 src/local_pathfinding/test/test_ompl_path.py  | 50 +++++++++++--------
 2 files changed, 30 insertions(+), 25 deletions(-)

diff --git a/src/local_pathfinding/test/test_node_navigate.py b/src/local_pathfinding/test/test_node_navigate.py
index 54f3ae18a..b68e6aff7 100644
--- a/src/local_pathfinding/test/test_node_navigate.py
+++ b/src/local_pathfinding/test/test_node_navigate.py
@@ -1,14 +1,13 @@
-import custom_interfaces.msg as ci
 import pytest
 
+import custom_interfaces.msg as ci
 import local_pathfinding.node_navigate as nn
 from local_pathfinding.local_path import LocalPath
 
 LOCAL_WAYPOINT_REACHED_THRESH_KM = 0.5
 GLOBAL_WAYPOINT_REACHED_THRESH_KM = 3
-PATHFINDING_RANGE_KM = 30
 ONE_DEGREE_KM = 111  # One degree longitude at equator = 111km
-PATH_RANGE_DEG = PATHFINDING_RANGE_KM / ONE_DEGREE_KM
+PATH_RANGE_DEG = nn.PATHFINDING_RANGE_KM / ONE_DEGREE_KM
 
 
 @pytest.mark.parametrize(
diff --git a/src/local_pathfinding/test/test_ompl_path.py b/src/local_pathfinding/test/test_ompl_path.py
index 5723d8297..c2726affd 100644
--- a/src/local_pathfinding/test/test_ompl_path.py
+++ b/src/local_pathfinding/test/test_ompl_path.py
@@ -2,6 +2,13 @@
 import random
 
 import pytest
+from ompl import base
+from rclpy.impl.rcutils_logger import RcutilsLogger
+from shapely.geometry import MultiPolygon, Point, box
+
+import local_pathfinding.coord_systems as cs
+import local_pathfinding.obstacles as ob
+import local_pathfinding.ompl_path as ompl_path
 from custom_interfaces.msg import (
     GPS,
     AISShips,
@@ -14,13 +21,6 @@
     Path,
     WindSensor,
 )
-from ompl import base
-from rclpy.impl.rcutils_logger import RcutilsLogger
-from shapely.geometry import MultiPolygon, Point, box
-
-import local_pathfinding.coord_systems as cs
-import local_pathfinding.obstacles as ob
-import local_pathfinding.ompl_path as ompl_path
 from local_pathfinding.local_path import LocalPathState
 
 LAND_KEY = -1
@@ -35,17 +35,17 @@ def fresh_ompl_path():
             ais_ships=AISShips(),
             global_path=Path(
                 waypoints=[
-                    HelperLatLon(latitude=0.02, longitude=0.02),
-                    HelperLatLon(latitude=0.04, longitude=0.03),
-                    HelperLatLon(latitude=0.06, longitude=0.05),
-                    HelperLatLon(latitude=0.08, longitude=0.07),
-                    HelperLatLon(latitude=0.10, longitude=0.09),
-                    HelperLatLon(latitude=0.12, longitude=0.11),
-                    HelperLatLon(latitude=0.15, longitude=0.15),
                     HelperLatLon(latitude=0.1, longitude=0.1),
+                    HelperLatLon(latitude=0.15, longitude=0.15),
+                    HelperLatLon(latitude=0.12, longitude=0.11),
+                    HelperLatLon(latitude=0.10, longitude=0.09),
+                    HelperLatLon(latitude=0.08, longitude=0.07),
+                    HelperLatLon(latitude=0.06, longitude=0.05),
+                    HelperLatLon(latitude=0.04, longitude=0.03),
+                    HelperLatLon(latitude=0.02, longitude=0.02),
                 ]
             ),
-            target_global_waypoint=HelperLatLon(latitude=0.1, longitude=0.1),
+            target_global_waypoint=HelperLatLon(latitude=0.02, longitude=0.02),
             filtered_wind_sensor=WindSensor(),
             planner="rrtstar",
         ),
@@ -283,9 +283,7 @@ def test_create_space(
 @pytest.mark.parametrize("boat_latlon", [HelperLatLon(latitude=0.0, longitude=0.0)])
 def test_get_remaining_cost_full_path(fresh_ompl_path, boat_latlon):
     remaining_cost = fresh_ompl_path.get_remaining_cost(0, boat_latlon)
-    assert remaining_cost == pytest.approx(
-        fresh_ompl_path.get_cost(), abs=0.01
-    )
+    assert remaining_cost == pytest.approx(fresh_ompl_path.get_cost(), abs=0.01)
 
 
 @pytest.mark.parametrize(
@@ -307,10 +305,18 @@ def mid_point(start_latlon: HelperLatLon, end_latlon: HelperLatLon):
             return start_latlon
         end_points_inclusive_factor = 1e-4
         return HelperLatLon(
-            latitude=(random.uniform(start_latlon.latitude + end_points_inclusive_factor,
-                                     end_latlon.latitude - end_points_inclusive_factor)),  # noqa
-            longitude=(random.uniform(start_latlon.longitude + end_points_inclusive_factor,
-                                      end_latlon.longitude - end_points_inclusive_factor)),  # noqa
+            latitude=(
+                random.uniform(
+                    start_latlon.latitude + end_points_inclusive_factor,
+                    end_latlon.latitude - end_points_inclusive_factor,
+                )
+            ),  # noqa
+            longitude=(
+                random.uniform(
+                    start_latlon.longitude + end_points_inclusive_factor,
+                    end_latlon.longitude - end_points_inclusive_factor,
+                )
+            ),  # noqa
         )
 
     boat_latlon = mid_point(boat_latlon, next_wp_latlon)

From 8a5fc09f152ae0902eeafc2a50f076dafd655310 Mon Sep 17 00:00:00 2001
From: Sean Donaghy <118148642+SPDonaghy@users.noreply.github.com>
Date: Sat, 28 Mar 2026 13:33:27 -0700
Subject: [PATCH 3/7] get interval spacingfrom globals.yaml

---
 src/global_launch/config/globals.yaml                    | 2 +-
 .../mock_nodes/node_mock_global_path.py                  | 8 ++++----
 src/local_pathfinding/local_pathfinding/node_navigate.py | 9 ++++++---
 3 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/src/global_launch/config/globals.yaml b/src/global_launch/config/globals.yaml
index 48af86fb5..f56cc1edc 100644
--- a/src/global_launch/config/globals.yaml
+++ b/src/global_launch/config/globals.yaml
@@ -3,13 +3,13 @@
    ros__parameters:
       # Publishers' period (seconds): how often the publishers publish
       pub_period_sec: 1.0
+      global_path_interval_spacing: 3.0
       test_plan: "basic.yaml"
 
 # local_pathfinding parameters
 mock_global_path:
    ros__parameters:
       global_path_filepath: "/workspaces/sailbot_workspace/src/local_pathfinding/global_paths/mock_global_path.csv"
-      interval_spacing: 3.0
       write: false
       gps_threshold: 1.5
       force: false
diff --git a/src/local_pathfinding/local_pathfinding/mock_nodes/node_mock_global_path.py b/src/local_pathfinding/local_pathfinding/mock_nodes/node_mock_global_path.py
index 792da3731..e29c03643 100644
--- a/src/local_pathfinding/local_pathfinding/mock_nodes/node_mock_global_path.py
+++ b/src/local_pathfinding/local_pathfinding/mock_nodes/node_mock_global_path.py
@@ -4,10 +4,10 @@
 import os
 import time
 
-import custom_interfaces.msg as ci
 import rclpy
 from rclpy.node import Node
 
+import custom_interfaces.msg as ci
 import local_pathfinding.coord_systems as cs
 import local_pathfinding.global_path as gp
 
@@ -49,7 +49,7 @@ def __init__(self):
             namespace="",
             parameters=[
                 ("global_path_filepath", rclpy.Parameter.Type.STRING),
-                ("interval_spacing", rclpy.Parameter.Type.DOUBLE),
+                ("global_path_interval_spacing", rclpy.Parameter.Type.DOUBLE),
                 ("write", rclpy.Parameter.Type.BOOL),
                 ("gps_threshold", rclpy.Parameter.Type.DOUBLE),
                 ("force", rclpy.Parameter.Type.BOOL),
@@ -115,7 +115,7 @@ def global_path_callback(self, gps: ci.GPS):
 
             # we need to obtain the actual distances between every waypoint in the global path
             path_spacing = gp.calculate_interval_spacing(pos, global_path.waypoints)
-            interval_spacing = self.get_parameter("interval_spacing")._value
+            interval_spacing = self.get_parameter("global_path_interval_spacing")._value
 
             # this checks if global path is just a destination point
             if len(global_path.waypoints) < 2:
@@ -187,7 +187,7 @@ def check_pos(self, gps: ci.GPS):
                 )[2]
             )
             gps_threshold = self.get_parameter("gps_threshold")._value
-            interval_spacing = self.get_parameter("interval_spacing")._value
+            interval_spacing = self.get_parameter("global_path_interval_spacing")._value
 
             if position_delta > gps_threshold * interval_spacing:
                 self.get_logger().debug(
diff --git a/src/local_pathfinding/local_pathfinding/node_navigate.py b/src/local_pathfinding/local_pathfinding/node_navigate.py
index 4af8cdf1e..ed539dac2 100644
--- a/src/local_pathfinding/local_pathfinding/node_navigate.py
+++ b/src/local_pathfinding/local_pathfinding/node_navigate.py
@@ -12,7 +12,6 @@
 from local_pathfinding.ompl_path import MAX_SOLVER_RUN_TIME_SEC
 
 GLOBAL_WAYPOINT_REACHED_THRESH_KM = 3
-PATHFINDING_RANGE_KM = 3.0
 REALLY_FAR_M = 100000000
 
 
@@ -68,6 +67,7 @@ def __init__(self):
                 ("pub_period_sec", rclpy.Parameter.Type.DOUBLE),
                 ("path_planner", rclpy.Parameter.Type.STRING),
                 ("test_plan", rclpy.Parameter.Type.STRING),
+                ("global_path_interval_spacing", rclpy.Parameter.Type.DOUBLE),
             ],
         )
 
@@ -106,6 +106,9 @@ def __init__(self):
         self.pub_period_sec = (
             self.get_parameter("pub_period_sec").get_parameter_value().double_value
         )
+        self.global_path_interval_spacing = (
+            self.get_parameter("global_path_interval_spacing").get_parameter_value().double_value
+        )
         self.get_logger().debug(f"Got parameter: {self.pub_period_sec=}")
 
         # we need to give the solver time to run and the callback to return before calling again
@@ -300,7 +303,7 @@ def get_desired_heading(self) -> float:
 
     @staticmethod
     def determine_start_point_in_new_global_path(
-        global_path: ci.Path, boat_lat_lon: ci.HelperLatLon
+        self, global_path: ci.Path, boat_lat_lon: ci.HelperLatLon
     ):
         """Used when we receive a new global path.
         Finds the index of the first waypoint within 'pathfinding range' of gps location.
@@ -321,7 +324,7 @@ def determine_start_point_in_new_global_path(
             if distance_to_waypoint_m < closest_m:
                 closest_m, index_of_closest = distance_to_waypoint_m, waypoint_index
 
-            if distance_to_waypoint_m < cs.km_to_meters(PATHFINDING_RANGE_KM):
+            if distance_to_waypoint_m < cs.km_to_meters(self.global_path_interval_spacing):
                 return waypoint_index
 
         return index_of_closest

From b40b8d769f6fb36b9696b6c299b5a0c0a4c5d829 Mon Sep 17 00:00:00 2001
From: Sean Donaghy <118148642+SPDonaghy@users.noreply.github.com>
Date: Sat, 28 Mar 2026 13:35:48 -0700
Subject: [PATCH 4/7] rm noqa

---
 src/local_pathfinding/test/test_ompl_path.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/local_pathfinding/test/test_ompl_path.py b/src/local_pathfinding/test/test_ompl_path.py
index fa7ec2ebb..2ec2714f6 100644
--- a/src/local_pathfinding/test/test_ompl_path.py
+++ b/src/local_pathfinding/test/test_ompl_path.py
@@ -311,7 +311,7 @@ def mid_point(start_latlon: HelperLatLon, end_latlon: HelperLatLon):
                     start_latlon.latitude + end_points_inclusive_factor,
                     end_latlon.latitude - end_points_inclusive_factor,
                 )
-            ),  # noqa
+            ),
             longitude=(
                 random.uniform(
                     start_latlon.longitude + end_points_inclusive_factor,

From 28328205cf407aad2c88124ea34da63f3fe48631 Mon Sep 17 00:00:00 2001
From: Sean Donaghy <118148642+SPDonaghy@users.noreply.github.com>
Date: Sun, 29 Mar 2026 01:58:42 -0700
Subject: [PATCH 5/7] obtain value from globals

---
 src/global_launch/config/globals.yaml              |  2 +-
 .../mock_nodes/node_mock_global_path.py            |  6 +++---
 .../local_pathfinding/node_navigate.py             | 14 ++++++++------
 src/local_pathfinding/test/test_node_navigate.py   | 10 ++++++++--
 4 files changed, 20 insertions(+), 12 deletions(-)

diff --git a/src/global_launch/config/globals.yaml b/src/global_launch/config/globals.yaml
index f56cc1edc..5fe3d0e1e 100644
--- a/src/global_launch/config/globals.yaml
+++ b/src/global_launch/config/globals.yaml
@@ -3,7 +3,7 @@
    ros__parameters:
       # Publishers' period (seconds): how often the publishers publish
       pub_period_sec: 1.0
-      global_path_interval_spacing: 3.0
+      global_path_interval_spacing_km: 3.0
       test_plan: "basic.yaml"
 
 # local_pathfinding parameters
diff --git a/src/local_pathfinding/local_pathfinding/mock_nodes/node_mock_global_path.py b/src/local_pathfinding/local_pathfinding/mock_nodes/node_mock_global_path.py
index e29c03643..3c69aaf47 100644
--- a/src/local_pathfinding/local_pathfinding/mock_nodes/node_mock_global_path.py
+++ b/src/local_pathfinding/local_pathfinding/mock_nodes/node_mock_global_path.py
@@ -49,7 +49,7 @@ def __init__(self):
             namespace="",
             parameters=[
                 ("global_path_filepath", rclpy.Parameter.Type.STRING),
-                ("global_path_interval_spacing", rclpy.Parameter.Type.DOUBLE),
+                ("global_path_interval_spacing_km", rclpy.Parameter.Type.DOUBLE),
                 ("write", rclpy.Parameter.Type.BOOL),
                 ("gps_threshold", rclpy.Parameter.Type.DOUBLE),
                 ("force", rclpy.Parameter.Type.BOOL),
@@ -115,7 +115,7 @@ def global_path_callback(self, gps: ci.GPS):
 
             # we need to obtain the actual distances between every waypoint in the global path
             path_spacing = gp.calculate_interval_spacing(pos, global_path.waypoints)
-            interval_spacing = self.get_parameter("global_path_interval_spacing")._value
+            interval_spacing = self.get_parameter("global_path_interval_spacing_km")._value
 
             # this checks if global path is just a destination point
             if len(global_path.waypoints) < 2:
@@ -187,7 +187,7 @@ def check_pos(self, gps: ci.GPS):
                 )[2]
             )
             gps_threshold = self.get_parameter("gps_threshold")._value
-            interval_spacing = self.get_parameter("global_path_interval_spacing")._value
+            interval_spacing = self.get_parameter("global_path_interval_spacing_km")._value
 
             if position_delta > gps_threshold * interval_spacing:
                 self.get_logger().debug(
diff --git a/src/local_pathfinding/local_pathfinding/node_navigate.py b/src/local_pathfinding/local_pathfinding/node_navigate.py
index ed539dac2..fbdaa6fc3 100644
--- a/src/local_pathfinding/local_pathfinding/node_navigate.py
+++ b/src/local_pathfinding/local_pathfinding/node_navigate.py
@@ -67,7 +67,7 @@ def __init__(self):
                 ("pub_period_sec", rclpy.Parameter.Type.DOUBLE),
                 ("path_planner", rclpy.Parameter.Type.STRING),
                 ("test_plan", rclpy.Parameter.Type.STRING),
-                ("global_path_interval_spacing", rclpy.Parameter.Type.DOUBLE),
+                ("global_path_interval_spacing_km", rclpy.Parameter.Type.DOUBLE),
             ],
         )
 
@@ -106,8 +106,10 @@ def __init__(self):
         self.pub_period_sec = (
             self.get_parameter("pub_period_sec").get_parameter_value().double_value
         )
-        self.global_path_interval_spacing = (
-            self.get_parameter("global_path_interval_spacing").get_parameter_value().double_value
+        self.global_path_interval_spacing_km = (
+            self.get_parameter("global_path_interval_spacing_km")
+            .get_parameter_value()
+            .double_value
         )
         self.get_logger().debug(f"Got parameter: {self.pub_period_sec=}")
 
@@ -263,7 +265,7 @@ def get_desired_heading(self) -> float:
         ):
             received_new_global_waypoint = True
             self.global_waypoint_index = self.determine_start_point_in_new_global_path(
-                self.global_path, self.gps.lat_lon
+                self.global_path, self.gps.lat_lon, self.global_path_interval_spacing_km
             )
             self.saved_target_global_waypoint = self.global_path.waypoints[
                 self.global_waypoint_index
@@ -303,7 +305,7 @@ def get_desired_heading(self) -> float:
 
     @staticmethod
     def determine_start_point_in_new_global_path(
-        self, global_path: ci.Path, boat_lat_lon: ci.HelperLatLon
+        global_path: ci.Path, boat_lat_lon: ci.HelperLatLon, global_path_spacing_km: float
     ):
         """Used when we receive a new global path.
         Finds the index of the first waypoint within 'pathfinding range' of gps location.
@@ -324,7 +326,7 @@ def determine_start_point_in_new_global_path(
             if distance_to_waypoint_m < closest_m:
                 closest_m, index_of_closest = distance_to_waypoint_m, waypoint_index
 
-            if distance_to_waypoint_m < cs.km_to_meters(self.global_path_interval_spacing):
+            if distance_to_waypoint_m < cs.km_to_meters(global_path_spacing_km):
                 return waypoint_index
 
         return index_of_closest
diff --git a/src/local_pathfinding/test/test_node_navigate.py b/src/local_pathfinding/test/test_node_navigate.py
index 5e8951f32..51ad2d766 100644
--- a/src/local_pathfinding/test/test_node_navigate.py
+++ b/src/local_pathfinding/test/test_node_navigate.py
@@ -1,4 +1,7 @@
+import os
+
 import pytest
+import yaml
 
 import custom_interfaces.msg as ci
 import local_pathfinding.node_navigate as nn
@@ -7,7 +10,10 @@
 LOCAL_WAYPOINT_REACHED_THRESH_KM = 0.5
 GLOBAL_WAYPOINT_REACHED_THRESH_KM = 3
 ONE_DEGREE_KM = 111  # One degree longitude at equator = 111km
-PATH_RANGE_DEG = nn.PATHFINDING_RANGE_KM / ONE_DEGREE_KM
+with open(os.getcwd() + "/../global_launch/config/globals.yaml", "r") as f:
+    config = yaml.safe_load(f)
+GLOBAL_PATH_SPACING_KM = config["/**"]["ros__parameters"]["global_path_interval_spacing_km"]
+PATH_RANGE_DEG = GLOBAL_PATH_SPACING_KM / ONE_DEGREE_KM
 
 
 @pytest.mark.parametrize(
@@ -132,6 +138,6 @@ def test_find_next_global_waypoint_index(
     global_path: ci.Path, boat_lat_lon: ci.HelperLatLon, correct_index: int
 ):
     calculated_answer = nn.Sailbot.determine_start_point_in_new_global_path(
-        global_path, boat_lat_lon
+        global_path, boat_lat_lon, GLOBAL_PATH_SPACING_KM
     )
     assert calculated_answer == correct_index

From b408d1c4d7d6785c800a9349d5924f2e8c3410e0 Mon Sep 17 00:00:00 2001
From: Sean Donaghy <118148642+SPDonaghy@users.noreply.github.com>
Date: Sun, 29 Mar 2026 02:07:29 -0700
Subject: [PATCH 6/7] fix index in test

---
 src/local_pathfinding/test/test_ompl_path.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/local_pathfinding/test/test_ompl_path.py b/src/local_pathfinding/test/test_ompl_path.py
index 2ec2714f6..53a01a5fa 100644
--- a/src/local_pathfinding/test/test_ompl_path.py
+++ b/src/local_pathfinding/test/test_ompl_path.py
@@ -282,7 +282,7 @@ def test_create_space(
 
 @pytest.mark.parametrize("boat_latlon", [HelperLatLon(latitude=0.0, longitude=0.0)])
 def test_get_remaining_cost_full_path(fresh_ompl_path, boat_latlon):
-    remaining_cost = fresh_ompl_path.get_remaining_cost(0, boat_latlon)
+    remaining_cost = fresh_ompl_path.get_remaining_cost(1, boat_latlon)
     assert remaining_cost == pytest.approx(fresh_ompl_path.get_cost(), abs=0.01)
 
 

From 80ad7d3a671b8e01a3c17647f65422170c1cdcfe Mon Sep 17 00:00:00 2001
From: Raghumani Mehta <115026448+raghumanimehta@users.noreply.github.com>
Date: Sun, 29 Mar 2026 15:33:10 -0700
Subject: [PATCH 7/7] Fix warning message formatting in ompl_path.py

---
 src/local_pathfinding/local_pathfinding/ompl_path.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/local_pathfinding/local_pathfinding/ompl_path.py b/src/local_pathfinding/local_pathfinding/ompl_path.py
index c649c8f2e..bb61cf4ce 100644
--- a/src/local_pathfinding/local_pathfinding/ompl_path.py
+++ b/src/local_pathfinding/local_pathfinding/ompl_path.py
@@ -277,7 +277,7 @@ def get_remaining_cost(self, target_lp_wp_index: int, boat_lat_lon: ci.HelperLat
             # clamp to [0, total_seg_dist]
             if projected_dist > total_seg_dist:
                 self._logger.warning(
-                    "Projection of the boat position wrt"
+                    "Projection of the boat position wrt "
                     + "the segment is longer than the segment itself,"
                     + "the boat should've switched local waypoint by this point"
                 )