RSDK-7466 - Change navigation config to include bounding regions #3971
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Warning your change may break code samples. If your change modifies any of the following functions please contact @viamrobotics/fleet-management. Thanks!
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raybjork
approved these changes
May 17, 2024
services/motion/motion.go
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| @@ -56,7 +56,7 @@ type MoveOnGlobeReq struct { | |||
| Obstacles []*spatialmath.GeoGeometry | |||
| // Optional motion configuration | |||
| MotionCfg *MotionConfiguration | |||
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| // Set of obstacles which the robot must remain within while navigating | |||
| BoundingRegions []*spatialmath.GeoGeometry | |||
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Can you move this to be with the obstacles?
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A bounding region is not an obstacle...
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@nicksanford definition taken from API
https://github.com/viamrobotics/api/blob/main/proto/viam/service/motion/v1/motion.proto#L166
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Nick is right, we should remove the word "obstacle" when referring to these
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ok, what do we think of:
Set of bounds which the robot must remain within while navigating
Is it worth updating the API to match the new definition we are putting forward?
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Lets change bounds above to geometries. And yeah lets make the 1 line change to the API too. We probably need to clean up the comments in motion.proto more but this would be a good start
nicksanford
reviewed
May 20, 2024
services/motion/motion.go
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| @@ -56,7 +56,7 @@ type MoveOnGlobeReq struct { | |||
| Obstacles []*spatialmath.GeoGeometry | |||
| // Optional motion configuration | |||
| MotionCfg *MotionConfiguration | |||
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| // Set of obstacles which the robot must remain within while navigating | |||
| BoundingRegions []*spatialmath.GeoGeometry | |||
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A bounding region is not an obstacle...
| for _, region := range conf.BoundingRegions { | ||
| for _, geoms := range region.Geometries { | ||
| if !geoms.TranslationOffset.ApproxEqual(r3.Vector{}) { | ||
| return nil, errGeomWithTranslation |
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Is there a test for this new validation?
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I will add this as a unit test.
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…te or reconfigure with details added for which part of the cfg was faulty
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nicksanford
reviewed
May 20, 2024
| @@ -181,7 +183,16 @@ func (conf *Config) Validate(path string) ([]string, error) { | |||
| for _, obs := range conf.Obstacles { | |||
| for _, geoms := range obs.Geometries { | |||
| if !geoms.TranslationOffset.ApproxEqual(r3.Vector{}) { | |||
| return nil, errors.New("geometries specified through the navigation are not allowed to have a translation") | |||
| return nil, errors.New("obstacle " + errGeomWithTranslation.Error()) | |||
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Please use errors.Wrap rather than string concat with errors.New
nicksanford
reviewed
May 20, 2024
| for _, region := range conf.BoundingRegions { | ||
| for _, geoms := range region.Geometries { | ||
| if !geoms.TranslationOffset.ApproxEqual(r3.Vector{}) { | ||
| return nil, errors.New("bounding region " + errGeomWithTranslation.Error()) |
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Please use errors.Wrap rather than string concat with errors.New
nicksanford
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May 20, 2024
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nicksanford
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May 21, 2024
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We add bounding regions as a value to the navigation service config