fix: align navigation contract and readiness handling

2026-09-22 14:35:14 +08:00
parent 91bcd92d6b
commit 964d1fde67
21 changed files with 922 additions and 139 deletions
@@ -32,7 +32,7 @@ def goal_for(name):
    if name == "navigate":
        goal.target_pose.header.frame_id = "map"
        goal.target_pose.pose.orientation.w = 1.0
-        goal.position_tolerance = goal.orientation_tolerance = 0.1
+        goal.position_tolerance = goal.yaw_tolerance = 0.1
    elif name == "navigate_semantic":
        goal.kind, goal.reference, goal.registry_version = "LOCATION", "bin_A", 1
        goal.position_tolerance = goal.orientation_tolerance = 0.1