I HAVE TO REBASE. ros docker integration#699
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| enable_joystick=args.joystick, | ||
| enable_camera=args.camera, | ||
| enable_connection=os.getenv("ROBOT_IP") is not None, | ||
| enable_ros_bridge=True, | ||
| ) | ||
| robot.start() | ||
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| # test navigation | ||
| pose = PoseStamped( | ||
| ts=time.time(), | ||
| frame_id="map", | ||
| position=Vector3(1.0, 1.0, 0.0), | ||
| orientation=Quaternion(0.0, 0.0, 0.0, 1.0), | ||
| ) | ||
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| time.sleep(2) | ||
| robot.navigate_to_goal(pose, blocking=False) | ||
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| time.sleep(5) | ||
| robot.cancel_navigation() |
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The main() routine now unconditionally constructs a PoseStamped and calls robot.navigate_to_goal(...) followed by robot.cancel_navigation() immediately after robot.start(). Running this script will therefore command the robot to drive toward (1.0, 1.0, 0.0) every time the process starts, even when the user only intended to bring the system up or teleoperate it. The previous version did not send any motion commands at startup. This implicit goal is surprising and risks unintended robot motion; it should be removed or gated behind an explicit CLI flag.
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paul-nechifor
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Closed in favor of #700 |
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