From 9171aca2b7fcb67f656a73f4b7ea69b3afc5e5d5 Mon Sep 17 00:00:00 2001
From: Nick Sanford <nick.sanford@viam.com>
Date: Mon, 12 Feb 2024 12:02:50 -0500
Subject: [PATCH] wip

---
 web/frontend/src/components/slam/index.svelte | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/web/frontend/src/components/slam/index.svelte b/web/frontend/src/components/slam/index.svelte
index e3c44be0287..bcc8b25742d 100644
--- a/web/frontend/src/components/slam/index.svelte
+++ b/web/frontend/src/components/slam/index.svelte
@@ -302,12 +302,15 @@ const handleMoveClick = async () => {
     const destinationMM = lastPose.pose!;
     destinationMM.x = destination!.x * 1000;
     destinationMM.y = destination!.y * 1000;
-
+    const base = bases[0]!;
     await motionClient.moveOnMap(
       destinationMM,
-      bases[0]!,
+      base,
       slamResourceName,
-      { planDeviationM: 0.5 },
+      // obstacleDetectorsList is specified to work around this bug: RSDK-6632
+      // when that ticket is resolved we should delete the empty obstacleDetectorsList
+      // parameter
+      { planDeviationM: 0.5, obstacleDetectorsList: [] },
       { motion_profile: 'position_only' }
     );
     await refreshPaths();