Feature/rg traversability #53
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Schmluk
commented
Jan 25, 2026
Schmluk
commented
- ROS pendant for Hydra #129
- Currently also includes temporary launch and config files, will remove before merging (these might be useful for specifying the new regions though)
| inline static const std::array<std::pair<size_t, size_t>, 4> state_pairs_ = { | ||
| std::make_pair(1, 0), | ||
| std::make_pair(1, 2), | ||
| std::make_pair(2, 3), | ||
| std::make_pair(0, 3)}; | ||
| }; |
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(minor) I'd generally prefer a struct and brace initializers here, but I wouldn't both with cleanup unless I have any other actionable code comments
| @@ -1,14 +1,13 @@ | |||
| --- | |||
| launch: | |||
| - arg: {name: verbosity, default: '0', description: visualizer verbosity} | |||
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I need to add my yaml formatter ('yamlfix') to the pre-commit, I think I dropped it at some point from Hydra because Jared was having trouble getting it to work in 20.04. Preference to revert these changes and I can drop the color adapter args on my side
| --- | ||
| launch: | ||
| # development args | ||
| - arg: {name: verbosity, default: '0'} |
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ditto on reverting the formatting, I'll fix the pre-commit this afternoon
| // TMP | ||
| #include <rclcpp/rclcpp.hpp> |
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Can get dropped; also good reminder that I need to set up glog forwarding in the visualizer if I haven't already
| - include: | ||
| file: $(find-pkg-share khronos_ros)/launch/datasets/play_uhumans.launch.yaml | ||
| arg: | ||
| - { name: bag_file, value: /home/lukas/data/khronos/tesse_cd_office.bag } | ||
| - { name: use_gt_frame, value: "true" } | ||
| - { name: play_rate, value: "1.0" } |
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We can talk about how to do this a little bit more cleanly on the hydra_ros side, but I've tried to avoid this in general because you don't get keyboard controls to manage the playback, and you don't get tab-complete for the bag path (though I like having only one thing to run). Longer term thing though
