[jsk_fetch_startup] update navigation-utils.l to work auto-dock correctly.

[knorth55]

update auto-dock.l to work correctly.

[k-okada]

LGTM, but why the fetch can autodock without this modification ? @708yamaguchi

[708yamaguchi]

In auto-dock.l, *ri* is created when navigation-utils.l is loaded.
Therefore, (require :fetch-interface "package://fetcheus/fetch-interface.l") and (fetch-init) in this PR are not necessarily required.

jsk_robot/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l

Lines 7 to 10 in c3a53e1

	(require :fetch-interface "package://fetcheus/fetch-interface.l")
	(unless (boundp '*ri*)
	(fetch-init))

However, I think this PR helps people to understand the code.

[knorth55]

I mean adding :clear-costmap at the beginning is important to start this demo smoothly.

[k-okada]

In auto-dock.l, ri is created when navigation-utils.l is loaded.

ok, if so we need decide policy, whether if we should create *ri* within navigation-utils.l or not. If we decided to initialize *ri* outside navigation-utils.l, remove (fetch-init) within navigation-utils.l with comments and add (fetch-init) for all app programs loading navigation-utils.l.

[knorth55]

i meant :clear-costmap is the most important point in this PR.
in order to do it, we first make ri.

[knorth55]

I change to do :clear-costmap in (auto-dock) function in navigation-utils.l.

[knorth55]

I'm using this function in #1152

[knorth55]

@708yamaguchi can you review this again?

[708yamaguchi]

@k-okada says

ok, if so we need decide policy, whether if we should create ri within navigation-utils.l or not. If we decided to initialize ri outside navigation-utils.l, remove (fetch-init) within navigation-utils.l with comments and add (fetch-init) for all app programs loading navigation-utils.l.

I think making *ri* inside of navigation-utils.l is no problem because we want to use many methods of *ri* in navigation-utils.l.

Regarding :clear-costmap, if you think :clear-costmap is important, how about using :clear-costmap in (go-to-spot) instead of (auto-dock)?

[708yamaguchi]

thank you!
Looks good to me.

[knorth55]

Finally, this PR contains several modification.

• change the distance in auto-dock function
• do clear-costmap in every go-to-spot function
• pass dock position to improve auto-dock success ratio.

the comments posted in this thread are totally misunderstood about this PR, and I changed this PR after the comments.
I have no idea what the policy is, but I fix to work auto-dock properly.
It is nonsense to talk about coding policy in this PR.
I'm using this commit in Fetch15 now for go-to-kitchen app.

[knorth55]

@k-okada can you merge this PR?