Fix false trajectory success when blocked by obstacle #579
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…h goal due to obstacle, using new flags and logic in spot_wrapper
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) Co-authored-by: Tiffany Cappellari <[email protected]> Signed-off-by: kabirkedia <[email protected]>
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Change Overview
Just changed some logic inside of
handle_trajectory()member function to properly handle the new flags/logic created in the correspondingspot_wrapperbranch. Going to keep this as a draft until the corresponding branch inspot_wrapperis merged to main.Depends on bdaiinstitute/spot_wrapper#156
Testing Done
Tested on Rex in spot lab. Confirmed that it will report "Trajectory complete: failed to reach goal" if it is unable to reach the goal. Previously, it would instead say "Reached goal" and success. Trajectory duration time out fail also tested and still sends proper feedback and result.