DOCS-1781: Handle planning for the zero pose #2589
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viambot
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Overall readability score: 55.43 (🟢 +0)
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nfranczak
reviewed
Feb 27, 2024
npentrel
commented
Feb 27, 2024
nfranczak
approved these changes
Feb 27, 2024
nfranczak
reviewed
Feb 27, 2024
docs/mobility/motion/_index.md
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| Each successful `MoveOnMap()` call returns a unique `ExecutionID` which you can use to identify all plans generated during the `MoveOnMap()` call. | ||
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| {{< alert title="Info" color="info" >}} | ||
| If you specify a goal pose or orientation and the robot's current position is already at the goal post or orientation, `MoveonMap` returns an error. |
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small nit: I would say:
If you specify a goal pose and the robot's current position is already within the set `PlanDeviationM`, then `MoveonMap` returns an error.
i.e. if we are within PlanDeviationMM of the goal pose then we do not need to start.
nfranczak
requested changes
Feb 27, 2024
npentrel
commented
Feb 27, 2024
npentrel
commented
Feb 27, 2024
nfranczak
reviewed
Feb 27, 2024
docs/mobility/motion/_index.md
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| Each successful `MoveOnGlobe()` call returns a unique `ExecutionID` which you can use to identify all plans generated during the `MoveOnGlobe()`. | ||
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| {{< alert title="Info" color="info" >}} | ||
| If you specify a goal pose or orientation and the robot's current position is already within the set `PlanDeviationM` or orientation, `MoveOnGlobe` returns an error. |
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can you please change this to be
If you specify a goal pose and the robot's current position is already within the set `PlanDeviationM`, `MoveOnGlobe` returns an error.
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@npentrel this should not include "or orientation"
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@nfranczak is this now good to go? |
nfranczak
approved these changes
Feb 29, 2024
docs/mobility/motion/_index.md
Outdated
| Each successful `MoveOnGlobe()` call returns a unique `ExecutionID` which you can use to identify all plans generated during the `MoveOnGlobe()`. | ||
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| {{< alert title="Info" color="info" >}} | ||
| If you specify a goal pose or orientation and the robot's current position is already within the set `PlanDeviationM` or orientation, `MoveOnGlobe` returns an error. |
There was a problem hiding this comment.
@npentrel this should not include "or orientation"
npentrel
commented
Feb 29, 2024
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You can view a rendered version of the docs from this PR at https://docs-test.viam.dev/2589 |
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