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PolylineWalker no longer work in FollowPath with loitering #5248
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@mjmadsen Might this be related to your changes? |
@ShiLingStar Can you show me the StepWalker log? I'm curious because the starting position for each position_update isn't at the last coord we moved (does loiter wander around?). It also looks like it's teleporting to a rounded variant of the waypoint coords set. |
@ShiLingStar They (anakin5 and th3w4y) have identified problems with the system on Windows in their walker improvement PR. They are aware and have a plan to fix - but that particular problem may not be related to your problem. If you could put up a long from StepWalker, and perhaps a web path image for each - I would find it quite helpful. |
Can you explain briefly what this task is supposed to do so that I can see if our current implementation will be able to manage it ? |
I think it arrives at the point and waits around for the specified number of seconds. Apart from that, I have no idea - don't use path or loiter. 😦 |
@mjmadsen @anakin5 As for "follow path (stepwalker)" it does correctly detects the distance and proceeds to walk to the waypoint. As to what loiter does, to my understanding, upon reaching the waypoint which has been tagged to loiter for X seconds. It will perform the next task as listed in the config file ie. MovetoFort, Follow Cluster, etc. Below is the logs I have for the 2 different walkers. This is if Polyline Walker is being used. (Ignore the first distance to the waypoint as I directly teleported there)
This is using Stepwalker
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It is most mostly only a display issue.. That will be fixed in #5184
The new approach will display: |
@deception83 also in #5184 StepWalker will return False for those cases... when final destination is not reached... If the follow task you only need to handle return True/False from the walker.step() method you should not look at distances... In the commit that the bug opener refers: d4addb0 we were anyway returning still False... (unless closer then 10meters to the destination... I guess I am indirectly confirming the bug you are mentioning here Yes it could have loitered in the 10m vicinity)
Never mind this also is fixed in #5184 |
@th3w4y Thanks! |
Seems that it had been solved with the latest dev commit 6aea15f |
@ShiLingStar & @deception83 thanks for reporting and checking that the issue is fixed! |
Expected Behavior
Actual Behavior
Your FULL config.json (remove your username, password, gmapkey and any other private info)
Output when issue occurred
Steps to Reproduce
Other Information
OS:
Win 10
Branch:
master
Git Commit:
d4addb0
Python Version:
Python 2.7.12
Any other relevant files/configs (eg: path files)
P.S. "StepWalker" does not seems to have the same problem.
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