feat: auto-localization assist — yaw sweep until localized - #167
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xiaolefang-dm wants to merge 9 commits into
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feat: auto-localization assist — yaw sweep until localized#167xiaolefang-dm wants to merge 9 commits into
xiaolefang-dm wants to merge 9 commits into
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When the 'Assist' toggle is enabled on the Operate page:
- Nav ON starts map_node but NOT cmd_vel_control
- Backend runs a yaw sweep (±expanding angles, 5s dwell each)
- Once localized, sweep stops and cmd_vel_control starts normally
Backend changes (node_manager.py):
- _loc_assist_enabled / _loc_assist_thread / _loc_assist_stop_event state
- _loc_assist_loop(): expanding yaw sweep pattern via /cmd_vel
- _on_localization_achieved(): stops sweep, launches cmd_vel_control
- cmd_start_nav_nodes skips cmd_vel_control when assist is on
- cmd_stop_nav_nodes stops assist thread
- get_status() includes locAssistEnabled
API (routers/nav.py):
- POST /nav/loc-assist {enabled: bool} — toggle
- GET /nav/loc-assist — read state
Frontend:
- DeviceStatus.locAssistEnabled field
- _LocAssistToggle button on Operate page (bottom-right, above Nav)
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Summary
When the Assist toggle is enabled on the Operate page, pressing Nav ON will:
cmd_vel_controlnormallyThis helps in scenarios where the robot's current view doesn't match any map keyframe, avoiding indefinite waiting.
Changes
app/backend/node_manager.pyapp/backend/routers/nav.pyPOST/GET /nav/loc-assistendpointsapp/frontend/lib/core/models.dartlocAssistEnabledin DeviceStatusapp/frontend/lib/pages/operate_tab.dart_LocAssistTogglebutton widgetTesting
Toggle off = original behavior
When Assist is OFF, Nav ON works exactly as before (map_node + cmd_vel_control start together).