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Spring clean 01 hotfix + slight cleanup #141

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merged 8 commits into from
Mar 8, 2024
Merged

Spring clean 01 hotfix + slight cleanup #141

merged 8 commits into from
Mar 8, 2024

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jws-1
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@jws-1 jws-1 commented Mar 7, 2024 •
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This PR fixes a couple of minor bugs introduced by #129, namely:

  • PyKDL import issues for tf -> rolled back Python version for lasr_vision_yolov8 to 3.8.
  • Infinite loop waiting for transformations to come available.
  • GoToLocation and GoToSemanticLocation causing import issues, due to tiago_controllers relying on a deprecated package (common_math) -> these are now SimpleActionState that interact with MoveBase directly. LookToPoint is also a SimpleActionState.
  • Reliance on legacy (deprecated) Shapely package -> instead, use the Python package directly, as a consequence we need to add shapely to the container as an additional dependency.

Also performs a slight cleanup of lasr_vision_yolov8 to use the markers helper package introduced in #129, this cleans the code up a bit.

@jws-1 jws-1 requested review from insertish and fireblonde March 7, 2024 12:22
insertish
insertish approved these changes Mar 7, 2024
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Nothing weird stands out to me for changes to yolo

insertish
insertish suggested changes Mar 7, 2024
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Please add markers dependency to package.xml for yolo

insertish added a commit to insertish/LASR-Base that referenced this pull request Mar 7, 2024
@insertish
chore: can now import these due to PR LASR-at-Home#141
257acb7
@jws-1 jws-1 merged commit 6b9f223 into LASR-at-Home:main Mar 8, 2024
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jws-1 added a commit to jws-1/Base that referenced this pull request Mar 8, 2024
@jws-1
Spring clean 01 hotfix + slight cleanup (LASR-at-Home#141)
a16f83b 
* fix/refactor: tf and markers.

* chore: use python3.8 to get PyKDL to work.

* refactor: reinvent GoTo* states to be SimpleActionStates.

* fix: use shapely directly, rather than legacy (deprecated) ROS package

Co-authored by: Paul Makles <[email protected]>

* chore: add markers dependancy for yolo.

* refactor: LookToPoint.

* refactor: cleanup.

* fix/refactor: filter for people and general cleanup.
jws-1 added a commit to jws-1/Base that referenced this pull request Mar 8, 2024
@jws-1
Revert "Spring clean 01 hotfix + slight cleanup (LASR-at-Home#141)"
1fa8da8 
This reverts commit a16f83b.
jws-1 added a commit to jws-1/Base that referenced this pull request Mar 8, 2024
@jws-1
Revert "Spring clean 01 hotfix + slight cleanup (LASR-at-Home#141)"
9c9b1ab 
This reverts commit a16f83b.
jws-1 added a commit to jws-1/Base that referenced this pull request Mar 11, 2024
@jws-1
Revert "Spring clean 01 hotfix + slight cleanup (LASR-at-Home#141)"
367ada9 
This reverts commit a16f83b.
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@insertish insertish insertish requested changes

@fireblonde fireblonde Awaiting requested review from fireblonde

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