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[Hello] Continuous navigation #1387

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[Hello] Continuous navigation #1387

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@exhaustin exhaustin commented Oct 17, 2022 •
edited by cpaxton
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Description

Please include a summary of the change and link to an issue this PR fixes. Please also include relevant context. List any downstream components that might be affected by this change.

Fixes # (issue)

Type of change

Please check the options that are relevant.

  • Bug fix (non-breaking change that fixes an issue)
  • Proposes a change (non-breaking change that isn't necessarily a bug)
  • Refactor
  • New feature (non-breaking change that adds a new functionality)
  • Breaking change (fix or feature that would break some existing functionality downstream)
  • This is a unit test
  • Documentation only change
  • Datasets Release
  • Models Release

Type of requested review

  • I want a thorough review of the implementation.
  • I want a high level review.
  • I want a deep design review.

Before and After

If this PR introduces a change or fixes a bug, please add before and after screenshots (if this is causes a UX change) or before and after examples(this could be plain text, videos etc ) to demonstrate the change.

If this PR introduces a new feature, please also add examples or screenshots demonstrating the feature.

Testing

Please describe the tests that you ran to verify your changes and how we can reproduce.

Checklist:

  • I have performed manual end-to-end testing of the feature in my environment.
  • I have added Docstrings and comments to the code.
  • I have made changes to existing documentation where needed.
  • I have added tests that show that the PR is functional.
  • New and existing unit tests pass locally with my changes.
  • I have added relevant collaborators to review the PR before merge.
  • [Polymetis only] I ran on hardware (1) all scripts in tests/scripts, (2) asv benchmarks.

@facebook-github-bot facebook-github-bot added the CLA Signed This label is managed by the Facebook bot. Authors need to sign the CLA before a PR can be reviewed. label Oct 17, 2022
exhaustin and others added 13 commits October 17, 2022 15:26
@exhaustin
[Hello] Add continuous trajectory tracking & teleop (#1371)
ccba813 
* Velocity control

* Add keyboard teleop script

* Debug

* Hack

* Debug controller

* debug controller

* Disable stow

* Fix teleop script

* Debug teleop

* Wheel control test

* tmp

* Fix teleop once and for all

* Clean up, adapt ros version

* Fix

* Pub to cmd_vel

* Debug

* debug

* remove debug print

* remove debug print

* Clean up teleop API

* Expose vel and rvel

* Clean up teleop API

* Initial goto controller impl

* Add params

* Yaw tracking modes

* typing

* Set tolerances

* Make static methods

* Add tolerances to control

* Debug

* Tune heading tracking

* Remove acceleration and tol

* Debug

* Tune tol

* Add turn rate limit and update tol

* Tune controller

* Update comments

* Improve teleop

* Add comment

* Add docstrings and input checks

* Debug docstring

* Improve yaw tracking performance

* Add option to pause controller

* Tune teleop

* Tune rate

* Tune hz
@exhaustin
Made go to async
6931eb0
@exhaustin
Use continuous goto for navigation
4b8ba4b
@exhaustin
Always running nav thread
55560b7
@exhaustin
Add locking
592d9c8
@exhaustin
debug
94f7d54
@exhaustin
Add monitoring through ros topics
283e611
@exhaustin
Publish state to pose instead of twist
a56e149
@exhaustin
Change state estimation to use odom
a127838
@exhaustin
Tune controller
509e937
@exhaustin
Make use odom toggleable
c45d281
@exhaustin
Use transforms from utils
d0325fd
@exhaustin
Tune on hw, turn off odom by default
ec8c6ac
@exhaustin exhaustin force-pushed the austinw/hello_goto_odom branch from a62ec65 to ec8c6ac Compare October 17, 2022 22:28
@exhaustin exhaustin changed the title Austinw/hello goto odom [Hello] Continuous navigation Oct 17, 2022
Base automatically changed from austinw/droidlet_main to main October 17, 2022 23:42
@exhaustin exhaustin changed the base branch from main to austinw/gripper_async_debug October 17, 2022 23:42
@exhaustin exhaustin changed the base branch from austinw/gripper_async_debug to main October 17, 2022 23:43
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Codecov Report

Merging #1387 (1ae458c) into main (c1b8912) will decrease coverage by 0.03%.
The diff coverage is n/a.

Additional details and impacted files

Impacted file tree graph

@@            Coverage Diff             @@
##             main    #1387      +/-   ##
==========================================
- Coverage   25.53%   25.50%   -0.04%     
==========================================
  Files         372      372              
  Lines       37456    37510      +54     
==========================================
+ Hits         9566     9567       +1     
- Misses      27890    27943      +53
Impacted Files Coverage Δ
lowlevel/locobot/remote/navigation_service.py 0.00% <0.00%> (ø)
lowlevel/minecraft/pyworld/fake_mobs.py 80.88% <0.00%> (+0.73%) ⬆️

@exhaustin exhaustin force-pushed the austinw/hello_goto_odom branch from 9a05138 to ec8c6ac Compare October 25, 2022 22:51
@exhaustin exhaustin force-pushed the austinw/hello_goto_odom branch 5 times, most recently from 6cc9f42 to ecfe8f0 Compare October 25, 2022 23:21
@exhaustin exhaustin force-pushed the austinw/hello_goto_odom branch from ecfe8f0 to 2c65641 Compare October 25, 2022 23:22
@exhaustin exhaustin force-pushed the austinw/hello_goto_odom branch from be938fc to e20cbf2 Compare October 26, 2022 21:14
@exhaustin exhaustin force-pushed the austinw/hello_goto_odom branch from dfcdf62 to c01dc37 Compare October 26, 2022 21:48
@exhaustin exhaustin force-pushed the austinw/hello_goto_odom branch from 1aa5861 to 667e827 Compare October 28, 2022 18:07
@exhaustin exhaustin changed the base branch from main to austinw/new_main_with_hector_slam October 28, 2022 20:40
@exhaustin exhaustin force-pushed the austinw/hello_goto_odom branch from 37224a9 to 304a10e Compare November 2, 2022 21:40
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Hi @exhaustin!

Thank you for your pull request.

We require contributors to sign our Contributor License Agreement, and yours needs attention.

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