Optimize JEM bay motions for robustness and speed

[trey0]

Currently, the JEM bay motions of the survey planner are not well-optimized.

The following issues are observed:

• If the robot is moving multiple bays, it includes unnecessary rotations at each motion because it flies in face-forward mode and each pose has its attitude set to point the robot in the +X direction. Therefore, when flying multiple waypoints down the JEM centerline, at each waypoint, the robot turns 90 degrees to face +X, then turns back down the centerline. These rotations waste time and more importantly can negatively impact localization.
• The poses are not following our typical recent guidance for how to optimize localization in the JEM, which is more or less to face the robot toward whichever end of the module is closest. (Roughly, point toward the airlock for JEM bay 4 and up, point toward the NOD2 hatch for JEM bay 3 and down.)

The following improvements are proposed:

• Adjust attitude of JEM bay poses here to follow the localization guidance.
• Turn off face-forward motion. Will think about the easiest approach for this. I think it would be ok for this to be a blanket change rather than configurable per position because we have been pretty consistent about wanting to avoid unnecessary point turns that could affect localization.

[marinagmoreira]

By default during startup, the face-forward mode is turned off. You can mimic this behavior in simulation by turning off the option in the GDS Teleop menu.

[trey0]

By default during startup, the face-forward mode is turned off. You can mimic this behavior in simulation by turning off the option in the GDS Teleop menu.

Good to know! But I'd also like to clarify. By "startup" I guess you mean a manual step earlier in the relevant ground procedure, not for example something that happens automatically through running roslaunch or other steps already documented in the multi-robot sim instructions.

[marinagmoreira]

By default during startup, the face-forward mode is turned off. You can mimic this behavior in simulation by turning off the option in the GDS Teleop menu.

Good to know! But I'd also like to clarify. By "startup" I guess you mean a manual step earlier in the relevant ground procedure, not for example something that happens automatically through running roslaunch or other steps already documented in the multi-robot sim instructions.

On the robots when we start the fsw with ./isaac_scripts/ground_prep.bash 0.2.7+focal1 isaac13 survey comms that includes running a startup.fplan that sets up those things (also the recording profile). It's not a manual separate step as that would be too time consuming for ops.