Remove the "base has deviated too far from path" check in navigation/built-in.go
Description
Docs changes clarification
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Fahmina Ahmed August 3, 2023 at 2:41 PM
To clarify – the fix wasn’t to remove the check, we just changed the default to infinity.
Once we do the re-planning project – we will expose the plan_deviation_mm as a configurable parameter and change the default to a fixed number based on our tests
Done
Details
Details
Assignee
Raymond Bjorkman
Raymond BjorkmanTeam
Motion Planning
Priority
NoneFix versions
Reporter
Fahmina Ahmed
Fahmina Ahmed(Deactivated)Sprint
None
PagerDuty
PagerDuty Incident
PagerDuty
PagerDuty Incident
Created August 3, 2023 at 2:19 PM
Updated August 8, 2023 at 3:33 PM
Resolved August 8, 2023 at 3:33 PM
To get the obstacles video, we removed this check and then built a custom binary. Once we did that, we were able to successfully navigate around obstacles . This ticket is to commit the same fix to the RDK. (https://github.com/viamrobotics/rdk/blob/ff5143b00f88980a888f365d4bc1b8fa5e33d376/services/navigation/builtin/builtin.go#L342)
Issue created in Slack using /jira create .