Navigation will send a service call containing "courseX" to perception when it enters the waypoint state for the the water bottle waypoint. Perception will query the TF tree to get the location of this waypoint and center the generated cost map around this point. This point will be the start/center of the search spiral navigation will perform while looking for the water bottle.
Navigation will send a service call containing "courseX" to perception when it enters the waypoint state for the the water bottle waypoint. Perception will query the TF tree to get the location of this waypoint and center the generated cost map around this point. This point will be the start/center of the search spiral navigation will perform while looking for the water bottle.