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RSDK-4168: Fix heading calculations for GoToInputs #2682

Merged
merged 5 commits into from
Aug 1, 2023
Merged

RSDK-4168: Fix heading calculations for GoToInputs #2682

merged 5 commits into from
Aug 1, 2023

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nthakur7
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@nthakur7 nthakur7 commented Jul 24, 2023 •
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Fixes bug that appeared after lidar was correctly mounted on rover.
Also added logic for breaking up spin angles into smaller chunks to prevent error from building up.

@viambot viambot added the safe to test This pull request is marked safe to test from a trusted zone label Jul 24, 2023
@nthakur7 nthakur7 requested a review from raybjork July 25, 2023 16:20
@nthakur7 nthakur7 marked this pull request as ready for review July 25, 2023 16:20
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jul 27, 2023
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jul 31, 2023
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Aug 1, 2023
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github-actions bot commented Aug 1, 2023

Code Coverage

Code Coverage
Package Line Rate Delta Health
go.viam.com/rdk/components/arm 59% 0.00% ➖
go.viam.com/rdk/components/arm/fake 27% 0.00% ❌
go.viam.com/rdk/components/arm/universalrobots 41% 0.00% ❌
go.viam.com/rdk/components/arm/wrapper 19% 0.00% ❌
go.viam.com/rdk/components/arm/xarm 22% 0.00% ❌
go.viam.com/rdk/components/arm/yahboom 6% 0.00% ❌
go.viam.com/rdk/components/audioinput 44% 0.00% ❌
go.viam.com/rdk/components/base 60% 0.00% ➖
go.viam.com/rdk/components/base/agilex 61% 0.00% ➖
go.viam.com/rdk/components/base/kinematicbase 44% 0.00% ❌
go.viam.com/rdk/components/base/wheeled 81% 0.00% ✅
go.viam.com/rdk/components/board 59% 0.00% ➖
go.viam.com/rdk/components/board/customlinux 35% 0.00% ❌
go.viam.com/rdk/components/board/fake 38% 0.00% ❌
go.viam.com/rdk/components/board/genericlinux 8% 0.00% ❌
go.viam.com/rdk/components/board/numato 19% 0.00% ❌
go.viam.com/rdk/components/board/pi 50% 0.00% ➖
go.viam.com/rdk/components/camera 58% 0.00% ➖
go.viam.com/rdk/components/camera/align 58% 0.00% ➖
go.viam.com/rdk/components/camera/fake 74% 0.00% ✅
go.viam.com/rdk/components/camera/ffmpeg 82% +1.49% ✅
go.viam.com/rdk/components/camera/replaypcd 89% 0.00% ✅
go.viam.com/rdk/components/camera/rtsp 51% -0.87% ➖
go.viam.com/rdk/components/camera/transformpipeline 77% 0.00% ✅
go.viam.com/rdk/components/camera/ultrasonic 61% 0.00% ➖
go.viam.com/rdk/components/camera/videosource 38% 0.00% ❌
go.viam.com/rdk/components/encoder 57% 0.00% ➖
go.viam.com/rdk/components/encoder/ams 63% 0.00% ➖
go.viam.com/rdk/components/encoder/fake 83% 0.00% ✅
go.viam.com/rdk/components/encoder/incremental 80% 0.00% ✅
go.viam.com/rdk/components/encoder/single 86% 0.00% ✅
go.viam.com/rdk/components/gantry 60% 0.00% ➖
go.viam.com/rdk/components/gantry/multiaxis 82% 0.00% ✅
go.viam.com/rdk/components/gantry/singleaxis 83% +1.67% ✅
go.viam.com/rdk/components/generic 79% 0.00% ✅
go.viam.com/rdk/components/gripper 56% 0.00% ➖
go.viam.com/rdk/components/input 88% 0.00% ✅
go.viam.com/rdk/components/input/fake 93% 0.00% ✅
go.viam.com/rdk/components/input/gpio 85% 0.00% ✅
go.viam.com/rdk/components/motor 71% 0.00% ✅
go.viam.com/rdk/components/motor/dimensionengineering 67% 0.00% ➖
go.viam.com/rdk/components/motor/dmc4000 70% 0.00% ➖
go.viam.com/rdk/components/motor/fake 55% 0.00% ➖
go.viam.com/rdk/components/motor/gpio 73% +0.44% ✅
go.viam.com/rdk/components/motor/gpiostepper 69% 0.00% ➖
go.viam.com/rdk/components/motor/tmcstepper 53% 0.00% ➖
go.viam.com/rdk/components/motor/ulnstepper 53% 0.00% ➖
go.viam.com/rdk/components/movementsensor 76% 0.00% ✅
go.viam.com/rdk/components/movementsensor/adxl345 75% 0.00% ✅
go.viam.com/rdk/components/movementsensor/cameramono 42% 0.00% ❌
go.viam.com/rdk/components/movementsensor/gpsnmea 55% 0.00% ➖
go.viam.com/rdk/components/movementsensor/gpsrtkpmtk 33% 0.00% ❌
go.viam.com/rdk/components/movementsensor/gpsrtkserial 29% 0.00% ❌
go.viam.com/rdk/components/movementsensor/merged 91% 0.00% ✅
go.viam.com/rdk/components/movementsensor/mpu6050 84% 0.00% ✅
go.viam.com/rdk/components/movementsensor/rtkutils 24% 0.00% ❌
go.viam.com/rdk/components/posetracker 71% 0.00% ✅
go.viam.com/rdk/components/powersensor 65% 0.00% ➖
go.viam.com/rdk/components/sensor 51% 0.00% ➖
go.viam.com/rdk/components/sensor/ultrasonic 38% 0.00% ❌
go.viam.com/rdk/components/servo 62% 0.00% ➖
go.viam.com/rdk/components/servo/gpio 72% 0.00% ✅
go.viam.com/rdk/config 79% 0.00% ✅
go.viam.com/rdk/control 57% 0.00% ➖
go.viam.com/rdk/data 77% 0.00% ✅
go.viam.com/rdk/examples/customresources/demos/remoteserver 0% 0.00% ❌
go.viam.com/rdk/grpc 25% 0.00% ❌
go.viam.com/rdk/internal/cloud 100% 0.00% ✅
go.viam.com/rdk/ml 67% 0.00% ➖
go.viam.com/rdk/ml/inference 71% 0.00% ✅
go.viam.com/rdk/module 75% 0.00% ✅
go.viam.com/rdk/module/modmanager 82% 0.00% ✅
go.viam.com/rdk/motionplan 80% +0.37% ✅
go.viam.com/rdk/motionplan/tpspace 78% 0.00% ✅
go.viam.com/rdk/operation 82% 0.00% ✅
go.viam.com/rdk/pointcloud 67% +0.07% ➖
go.viam.com/rdk/protoutils 49% 0.00% ❌
go.viam.com/rdk/referenceframe 65% 0.00% ➖
go.viam.com/rdk/resource 76% 0.00% ✅
go.viam.com/rdk/rimage 55% 0.00% ➖
go.viam.com/rdk/rimage/depthadapter 94% 0.00% ✅
go.viam.com/rdk/rimage/transform 72% -0.09% ✅
go.viam.com/rdk/rimage/transform/cmd/extrinsic_calibration 67% 0.00% ➖
go.viam.com/rdk/robot 86% +0.87% ✅
go.viam.com/rdk/robot/client 82% -0.55% ✅
go.viam.com/rdk/robot/framesystem 36% 0.00% ❌
go.viam.com/rdk/robot/impl 83% 0.00% ✅
go.viam.com/rdk/robot/packages 80% 0.00% ✅
go.viam.com/rdk/robot/server 55% 0.00% ➖
go.viam.com/rdk/robot/web 65% 0.00% ➖
go.viam.com/rdk/robot/web/stream 87% 0.00% ✅
go.viam.com/rdk/services/baseremotecontrol 50% 0.00% ➖
go.viam.com/rdk/services/baseremotecontrol/builtin 81% 0.00% ✅
go.viam.com/rdk/services/datamanager 65% 0.00% ➖
go.viam.com/rdk/services/datamanager/builtin 89% 0.00% ✅
go.viam.com/rdk/services/datamanager/datacapture 73% 0.00% ✅
go.viam.com/rdk/services/datamanager/datasync 0% 0.00% ❌
go.viam.com/rdk/services/mlmodel 83% 0.00% ✅
go.viam.com/rdk/services/mlmodel/tflitecpu 82% 0.00% ✅
go.viam.com/rdk/services/motion 45% 0.00% ❌
go.viam.com/rdk/services/motion/builtin 76% 0.00% ✅
go.viam.com/rdk/services/navigation 49% 0.00% ❌
go.viam.com/rdk/services/navigation/builtin 85% 0.00% ✅
go.viam.com/rdk/services/sensors 81% 0.00% ✅
go.viam.com/rdk/services/sensors/builtin 97% 0.00% ✅
go.viam.com/rdk/services/shell 11% 0.00% ❌
go.viam.com/rdk/services/slam 73% 0.00% ✅
go.viam.com/rdk/services/slam/fake 82% 0.00% ✅
go.viam.com/rdk/services/vision 35% 0.00% ❌
go.viam.com/rdk/services/vision/colordetector 56% 0.00% ➖
go.viam.com/rdk/services/vision/detectionstosegments 67% 0.00% ➖
go.viam.com/rdk/services/vision/mlvision 67% 0.00% ➖
go.viam.com/rdk/services/vision/obstacledistance 77% 0.00% ✅
go.viam.com/rdk/services/vision/obstaclespointcloud 59% 0.00% ➖
go.viam.com/rdk/session 94% 0.00% ✅
go.viam.com/rdk/spatialmath 82% +0.27% ✅
go.viam.com/rdk/utils 68% 0.00% ➖
go.viam.com/rdk/utils/contextutils 38% 0.00% ❌
go.viam.com/rdk/vision 32% 0.00% ❌
go.viam.com/rdk/vision/delaunay 87% 0.00% ✅
go.viam.com/rdk/vision/keypoints 92% 0.00% ✅
go.viam.com/rdk/vision/objectdetection 69% 0.00% ➖
go.viam.com/rdk/vision/odometry 60% 0.00% ➖
go.viam.com/rdk/vision/odometry/cmd 0% 0.00% ❌
go.viam.com/rdk/vision/segmentation 49% 0.00% ❌
go.viam.com/rdk/web/server 26% 0.00% ❌
Summary 64% (22145 / 34461) +0.83% ➖

@nthakur7 nthakur7 merged commit 9b423a2 into viamrobotics:main Aug 1, 2023
@nthakur7 nthakur7 deleted the fixbasemovement branch August 1, 2023 18:24
bazile-clyde pushed a commit to bazile-clyde/rdk that referenced this pull request Jan 5, 2024
@nthakur7
RSDK-4168: Fix heading calculations for GoToInputs (viamrobotics#2682)
6bbc16e
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@raybjork raybjork raybjork approved these changes

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@nthakur7 @raybjork @viambot