Merge branch 'main' into user/akash-venkateshwaran/33-normalising_obj…

…_funcs

.github/workflows/tests.yml

@@ -18,7 +18,7 @@ jobs:
   test-definitions:
     # sailbot_workspace: use locally-defined file
     # other repositories: set to UBCSailbot/sailbot_workspace/.github/workflows/test_definitions.yml@<release>
-    uses: UBCSailbot/sailbot_workspace/.github/workflows/test_definitions.yml@v1.6.1
+    uses: UBCSailbot/sailbot_workspace/.github/workflows/test_definitions.yml@v1.7.0
     # see https://github.com/UBCSailbot/sailbot_workspace/blob/main/.github/workflows/test_definitions.yml
     # for documentation on the inputs and secrets below
     with:

.gitignore

@@ -6,4 +6,3 @@ __pycache__/
 # global paths with exceptions
 /global_paths/*.csv
 !/global_paths/mock_global_path.csv
-!/global_paths/path.csv

README.md

@@ -17,3 +17,8 @@ Launch arguments are added to the run command in the format `<name>:=<value>`.
 | `log_level` | Logging level | A [severity level][severity level] (case insensitive) |
 
 [severity level]: <https://docs.ros.org/en/humble/Concepts/About-Logging.html#severity-level>
+
+### Server Files
+
+The server files: `get_server.py` and `post_server.py` are basic http server files which are used for testing the
+global_path module's GET and POST methods.

global_paths/path_builder/path_builder.py

@@ -23,9 +23,9 @@
 from custom_interfaces.msg import HelperLatLon, Path
 from flask import Flask, jsonify, render_template, request
 
-from local_pathfinding.node_mock_global_path import (
+from local_pathfinding.global_path import (
+    _interpolate_path,
     calculate_interval_spacing,
-    interpolate_path,
     write_to_file,
 )
 
@@ -65,7 +65,7 @@ def main():
             path_spacing = calculate_interval_spacing(pos=pos, waypoints=waypoints)
 
             path = Path(waypoints=waypoints)
-            path = interpolate_path(
+            path = _interpolate_path(
                 global_path=path,
                 interval_spacing=args.interpolate,
                 pos=pos,
@@ -134,7 +134,7 @@ def _delete_paths():
 
 
 @app.route("/interpolate_path", methods=["POST"])
-def _interpolate_path():
+def _interpolate_path_():
     data = request.json
     result = _handle_interpolate(data)
     return jsonify(result)
@@ -229,7 +229,7 @@ def _handle_interpolate(data):
 
     try:
         path_spacing = calculate_interval_spacing(pos=point1, waypoints=path.waypoints)
-        path = interpolate_path(
+        path = _interpolate_path(
             global_path=path,
             interval_spacing=interval_spacing,
             pos=point1,