review fixes

rb_ws/src/buggy/buggy/controller/controller_node.py

@@ -78,7 +78,7 @@ def odom_listener(self, msg : Odometry):
         with self.lock:
             self.odom = msg
 
-    def traj_listener(self, msg): #TYPE UNKOWN AS OF NOW?? CUSTOM TYPE WHEN #TODO: FIGURE OUT BEFORE MERGE
+    def traj_listener(self, msg):
         '''
         This is the subscriber that updates the buggies trajectory for navigation
         '''

rb_ws/src/buggy/buggy/simulator/engine.py

@@ -10,7 +10,7 @@
 import numpy as np
 import utm
 sys.path.append("/rb_ws/src/buggy/buggy")
-from util.util import Constants
+from rb_ws.src.buggy.buggy.util.constants import Constants
 
 class Simulator(Node):
 

rb_ws/src/buggy/buggy/util/pose.py

@@ -201,18 +201,3 @@ def __truediv__(self, other):
         p2_mat = other.to_mat()
 
         return Pose.from_mat(np.linalg.inv(p2_mat) @ p1_mat)
-
-
-if __name__ == "__main__":
-    # TODO: again do we want example code in these classes
-    rospose = ROSPose()
-    rospose.position.x = 1
-    rospose.position.y = 2
-    rospose.position.z = 3
-    rospose.orientation.x = 0
-    rospose.orientation.y = 0
-    rospose.orientation.z = -0.061461
-    rospose.orientation.w = 0.9981095
-
-    pose = Pose.rospose_to_pose(rospose)
-    print(pose)  # Pose(x=1, y=2, theta=-0.123)

rb_ws/src/buggy/buggy/util/trajectory.py

@@ -55,7 +55,7 @@ def __init__(self, json_filepath=None, positions = None, interpolator="CubicSpli
                 lon = waypoint["lon"]
 
                 # Convert to world coordinates
-                x, y, _, _ = utm.from_latlon(lat, lon) #TODO: Before Merging, make sure that we can do this nonlocalized
+                x, y, _, _ = utm.from_latlon(lat, lon)
                 positions.append([x, y])
 
             positions = np.array(positions)