fix navigation merge conflicts

config/navigation.yaml

@@ -22,16 +22,14 @@ search:
   segments_per_rotation: 8
   distance_between_spirals: 3
 
-<<<<<<< HEAD
 water_bottle_search:
   stop_thresh: 0.5
   drive_fwd_thresh: 0.34
   coverage_radius: 10
   segments_per_rotation: 8
-=======
+
 object_search:
   coverage_radius: 10
->>>>>>> origin/integration
   distance_between_spirals: 3
 
 single_fiducial:

src/navigation/context.py

@@ -9,12 +9,7 @@
 import rospy
 import tf2_ros
 from geometry_msgs.msg import Twist
-<<<<<<< HEAD
-
 from util.SE3 import SE3
-
-from mrover.msg import Waypoint, GPSWaypoint, WaypointType, GPSPointList, Course as CourseMsg
-=======
 from mrover.msg import (
     Waypoint,
     GPSWaypoint,
@@ -24,7 +19,6 @@
     LongRangeTag,
     LongRangeTags,
 )
->>>>>>> origin/integration
 from mrover.srv import EnableAuton, EnableAutonRequest, EnableAutonResponse
 from navigation.drive import DriveController
 from navigation import approach_post, long_range, approach_object

src/navigation/navigation.py

@@ -14,12 +14,9 @@
 from navigation.search import SearchState
 from navigation.state import DoneState, OffState, off_check
 from navigation.waypoint import WaypointState
-<<<<<<< HEAD
 from navigation.water_bottle_search import WaterBottleSearchState
-=======
 from navigation.approach_object import ApproachObjectState
 from navigation.long_range import LongRangeState
->>>>>>> origin/integration
 
 
 class Navigation(threading.Thread):
@@ -56,18 +53,12 @@ def __init__(self, context: Context):
             [
                 PostBackupState(),
                 ApproachPostState(),
-<<<<<<< HEAD
-                SearchState(),
-                RecoveryState(),
-                DoneState(),
-                WaterBottleSearchState(),
-=======
                 ApproachObjectState(),
+                WaterBottleSearchState(),
                 LongRangeState(),
                 SearchState(),
                 RecoveryState(),
                 DoneState(),
->>>>>>> origin/integration
             ],
         )
         self.state_machine.add_transitions(ApproachObjectState(), [DoneState(), SearchState(), RecoveryState()])

src/navigation/waypoint.py

@@ -3,12 +3,8 @@
 from util.ros_utils import get_rosparam
 from util.state_lib.state import State
 
-<<<<<<< HEAD
-from navigation import search, recovery, approach_post, post_backup, state, water_bottle_search
+from navigation import search, recovery, approach_post, post_backup, state, approach_object, long_range, water_bottle_search
 from mrover.msg import WaypointType
-=======
-from navigation import search, recovery, approach_post, post_backup, state, approach_object, long_range
->>>>>>> origin/integration
 
 
 class WaypointState(State):
@@ -53,22 +49,14 @@ def on_loop(self, context) -> State:
                 self.DRIVE_FWD_THRESH,
             )
             if arrived:
-<<<<<<< HEAD
-                if current_waypoint.type.val == WaypointType.NO_SEARCH:
+                if not context.course.look_for_post() and not context.course.look_for_object():
                     # We finished a regular waypoint, go onto the next one
                     context.course.increment_waypoint()
                 elif current_waypoint.type.val == WaypointType.WATER_BOTTLE:
                     # We finished a waypoint associated with the water bottle, but we have not seen it yet
                     return water_bottle_search.WaterBottleSearchState()
                 else:
-                    # We finished a waypoint associated with a tag id or the mallet, but we have not seen it yet.
-=======
-                if not context.course.look_for_post() and not context.course.look_for_object():
-                    # We finished a regular waypoint, go onto the next one
-                    context.course.increment_waypoint()
-                elif context.course.look_for_post() or context.course.look_for_object():
                     # We finished a waypoint associated with a post or mallet, but we have not seen it yet.
->>>>>>> origin/integration
                     return search.SearchState()
 
             if context.rover.stuck: