Updated navigateTo interface (#487)

Co-authored-by: Dan Rosenstein <danrose_microsoft> Co-authored-by: Tiffany Cappellari <156013635+tcappellari-bdai@users.noreply.github.com>
bdaiinstitute · Sep 26, 2024 · 656c900 · 656c900
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Showing 2 changed files with 3 additions and 9 deletions.
diff --git a/spot_driver/spot_driver/spot_ros2.py b/spot_driver/spot_driver/spot_ros2.py
@@ -2842,10 +2842,7 @@ def handle_navigate_to(self, goal_handle: ServerGoalHandle) -> NavigateTo.Result
 
         # run navigate_to
         resp = self.spot_wrapper.spot_graph_nav._navigate_to(
-            upload_path=goal_handle.request.upload_path,
-            navigate_to=goal_handle.request.navigate_to,
-            initial_localization_fiducial=goal_handle.request.initial_localization_fiducial,
-            initial_localization_waypoint=goal_handle.request.initial_localization_waypoint,
+            waypoint_id=goal_handle.request.waypoint_id,
         )
         self.run_navigate_to = False
         feedback_thread.join()

diff --git a/spot_msgs/action/NavigateTo.action b/spot_msgs/action/NavigateTo.action
@@ -1,9 +1,6 @@
-string upload_path # Absolute path to map_directory, which is downloaded from tablet controller
-string navigate_to # Waypoint id string for where to go
-bool initial_localization_fiducial   # Tells the initializer whether to use fiducials
-string initial_localization_waypoint # Waypoint id to trigger localization 
+string waypoint_id # waypoint ID to navigate to
 ---
 bool success   # indicate successful run of triggered service
 string message # informational, e.g. for error messages
 ---
-string waypoint_id
+string waypoint_id