resolving issues on s2025

Author: Aadarsh

GEMstack/onboard/perception/parking_detection.py

@@ -240,7 +240,7 @@ def update(self, state: AllState):
                                 material=ObstacleMaterialEnum.BARRIER,
                                 collidable=True
                             )
-            parking_obstacles[obstacle_id] = new_obstacle
+            parking_obstacles[f"parking_obstacle_{obstacle_id}"] = new_obstacle
             obstacle_id += 1
 
         # Constructing goal pose
@@ -256,7 +256,7 @@ def update(self, state: AllState):
                         frame=ObjectFrameEnum.START
                     )
 
-        DISTANCE_THRESHOLD = 12.0
+        DISTANCE_THRESHOLD = 8.0
         if self.euclidean_distance((x,y), state) > DISTANCE_THRESHOLD: # we are not close enough to the parking spot
             return None
 

GEMstack/onboard/planning/route_planning_component.py

@@ -13,8 +13,8 @@
 
 from GEMstack.state.vehicle import VehicleState
 from GEMstack.state.intent import VehicleIntentEnum
-from .planner import optimized_kinodynamic_rrt_planning
-from .map_utils import load_pgm_to_occupancy_grid
+# from .planner import optimized_kinodynamic_rrt_planning
+# from .map_utils import load_pgm_to_occupancy_grid
 from .rrt_star import RRTStar
 from typing import List
 from ..component import Component
@@ -26,7 +26,7 @@
 import rospy
 from sensor_msgs.msg import Image
 from cv_bridge import CvBridge
-from .occupancy_grid2 import OccupancyGrid2
+# from .occupancy_grid2 import OccupancyGrid2
 import cv2