Various y2024 localizer updates
* Make use of ignore_tags list to deweight/ignore some april tags.
* Pull in y2022/3 corrections style where we use implied robot x/y/theta
for corrections rather than heading/distance/skew (this may not
be necessary any more, as I believe the original reasons
for switching are largely resolved).
* Fix up the replay binary
* Various tunings.
* Mitigation for Orin timing issues.
Change-Id: I766a0d0046125cece4e64e086f7f23a4c930d9f8
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024/localizer/localizer_test.cc b/y2024/localizer/localizer_test.cc
index a2fc200..46763b1 100644
--- a/y2024/localizer/localizer_test.cc
+++ b/y2024/localizer/localizer_test.cc
@@ -427,7 +427,7 @@
CHECK(status_fetcher_.Fetch());
// We should've just ended up driving straight forwards.
EXPECT_LT(0.1, output_fetcher_->x());
- EXPECT_NEAR(0.0, output_fetcher_->y(), 1e-10);
+ EXPECT_NEAR(0.0, output_fetcher_->y(), 1e-8);
EXPECT_NEAR(0.0, output_fetcher_->theta(), 1e-10);
EXPECT_NEAR(2.0, status_fetcher_->state()->left_voltage_error(), 1.0);
EXPECT_NEAR(2.0, status_fetcher_->state()->right_voltage_error(), 1.0);
@@ -506,7 +506,7 @@
send_targets_ = true;
// Send the minimum pose error to be rejected
constexpr double kEps = 1e-9;
- pose_error_ = 1e-6 + kEps;
+ pose_error_ = 1e-4 + kEps;
event_loop_factory_.RunFor(std::chrono::seconds(4));
CHECK(status_fetcher_.Fetch());