Fix false trajectory success when blocked by obstacle #156
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…tionally querying spot-sdk's basic_command_pb2.Feedback.FinalGoalStatus, renaming some flags, and modifying some logic accordingly
gaddison-bdai
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jbarry-bdai,
heuristicus,
amessing-bdai,
khughes-bdai and
tcappellari-bdai
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Pull Request Test Coverage Report for Build 13314308544Details
💛 - Coveralls |
…t is stopped but trajectory still in progress
khughes-bdai
approved these changes
Feb 13, 2025
khughes-bdai
deleted the
gaddison/SW-2016-fix-trajectory-action-blocked-behavior
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As per jira ticket, we previously denoted “reaching the goal” as being when basic_command_pb2.SE2TrajectoryCommand.Feedback.Status has value STATUS_GOING_TO_GOAL, or STATUS_NEAR_GOAL, both of which, according to spot-sdk, were “possibly confusing in situations where the robot cannot achieve the requested trajectory and are now deprecated” (link).
I have updated the logic in spot_wrapper to no longer use those deprecated flags. This is necessary for spot_driver in spot_ros2 to properly report when the robot is blocked by an obstacle.