Add masked_replace enhancements from dev/ros2/update_map_rebase #134
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The _map_extent_from_mask() method computes the actual footprint of cells modified by masked_replace based on the valid mask, providing more accurate coordinate reporting in logs. - Returns None if mask is empty, falling back to slice-based extent - Adds flush=True to ensure log output appears immediately
When --full-length-x or --full-length-y is specified, the tool sends a full-size GridMap with the patch embedded at the specified position. This allows testing masked_replace with maps that match the node's full grid dimensions. New arguments: - --full-length-x: Total GridMap length in X - --full-length-y: Total GridMap length in Y - --full-center-x: GridMap center X for full-size map - --full-center-y: GridMap center Y for full-size map
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Summary
Extracts useful non-conflicting enhancements from
dev/ros2/update_map_rebasewhile keeping our column-major standardization approach.Changes:
_map_extent_from_mask()inelevation_mapping.py- Computes actual footprint based on valid mask for more accurate coordinate loggingmasked_replace_tool.py- New CLI arguments to send full-size maps with embedded patchesNew CLI arguments for masked_replace_tool.py:
--full-length-x: Total GridMap length in X (meters)--full-length-y: Total GridMap length in Y (meters)--full-center-x: GridMap center X for full-size map--full-center-y: GridMap center Y for full-size mapTest plan