Skip to content

tf fix for navigation to tagged location #1031

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
sinha7y wants to merge 4 commits into
base: dev
Choose a base branch
from
Open

tf fix for navigation to tagged location #1031

Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
26b84d4
tf fix for navigation to tagged location
sinha7y Jan 15, 2026
706fb2b
additional tf fix in _navigat_by_tagged_location()
sinha7y Jan 15, 2026
4ea54d8
Added configurable variable for tf type in navigation skill container
sinha7y Jan 16, 2026
9ade7db
CI code cleanup
sinha7y Jan 16, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 4 additions & 3 deletions dimos/agents/skills/navigation.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,7 @@ class NavigationSkillContainer(SkillModule):
_latest_odom: PoseStamped | None = None
_skill_started: bool = False
_similarity_threshold: float = 0.23
_navigation_frame: str = "world"

rpc_calls: list[str] = [
"SpatialMemory.tag_location",
Expand Down Expand Up @@ -93,7 +94,7 @@ def tag_location(self, location_name: str) -> str:

if not self._skill_started:
raise ValueError(f"{self} has not been started.")
tf = self.tf.get("map", "base_link", time_tolerance=2.0)
tf = self.tf.get(self._navigation_frame, "base_link", time_tolerance=2.0)
if not tf:
return "Could not get the robot's current transform."

Expand Down Expand Up @@ -162,7 +163,7 @@ def _navigate_by_tagged_location(self, query: str) -> str | None:
goal_pose = PoseStamped(
position=make_vector3(*robot_location.position),
orientation=Quaternion.from_euler(Vector3(*robot_location.rotation)),
frame_id="map",
frame_id=self._navigation_frame,
)

result = self._navigate_to(goal_pose)
Expand Down Expand Up @@ -393,7 +394,7 @@ def _get_goal_pose_from_result(self, result: dict[str, Any]) -> PoseStamped | No
return PoseStamped(
position=make_vector3(pos_x, pos_y, 0),
orientation=Quaternion.from_euler(make_vector3(0, 0, theta)),
frame_id="map",
frame_id=self._navigation_frame,
)


Expand Down