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RSDK-6631 - Change RC card to use MoveOnMap typescript SDK wrapper #3574

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RSDK-6631 - Change RC card to use MoveOnMap typescript SDK wrapper #3574

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RSDK-6631 - Change RC card to use MoveOnMap typescript SDK wrapper
nicksanford Feb 12, 2024
9171aca
wip
nicksanford Feb 12, 2024
6148e1b
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nicksanford Mar 4, 2024
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73 changes: 0 additions & 73 deletions web/frontend/src/api/motion.ts
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19 changes: 13 additions & 6 deletions web/frontend/src/components/slam/index.svelte
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,6 @@ import {
import { SlamMap2D } from '@viamrobotics/prime-blocks';
import { copyToClipboard } from '@/lib/copy-to-clipboard';
import { filterSubtype } from '@/lib/resource';
import { moveOnMap } from '@/api/motion';
import { notify } from '@viamrobotics/prime';
import { setAsyncInterval } from '@/lib/schedule';
import { components, services } from '@/stores/resources';
Expand Down Expand Up @@ -298,13 +297,21 @@ const toggleAxes = () => {

const handleMoveClick = async () => {
try {
// set pose in frame
const lastPose = await slamClient.getPosition();
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const destinationMM = lastPose.pose!;
destinationMM.x = destination!.x * 1000;
destinationMM.y = destination!.y * 1000;
const base = bases[0]!;
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[minor stuff] Could we change this to be a little more defensive? In general, we should avoid using the assertion operator ! (in App we have linters against this) because it's unsafe. Maybe we could use the nullish coalescing operator ?? to provide a reasonable default? Or return and display an error?

await moveOnMap(
$robotClient,
slamResourceName,
await motionClient.moveOnMap(
destinationMM,
base,
destination!.x,
destination!.y
slamResourceName,
// 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();
} catch (error) {
Expand Down
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