Right now our pre-map & getting ready to start doing nav workflow is fragmented, and docs live in pgo.md. There should be better UX for recording & doing loop closure, prepping all the grunt work for ready to nav.
Having good docs is a first.
Then, may consider having cli flow, think about we have 3 commands total. dimos record - they teleop the robot around. dimos map build recording.db - they get a map. dimos nav --map office.tc2.lcm - robot boots, relocalizes, accepts goals. If this flow is clean, the doc almost writes itself because there's nothing to explain.
Would be great ot have live feedback during each session
- Recording: a terminal readout showing "X frames captured, Y minutes, Z sq meters estimated" so they know it's working and when to stop.
- Map building: have a rendered top-down preview of the map when it's done so they can visually confirm progress, even consider adding a progress bar?
- Relocalization: a status line that goes from "searching..." to "localized - confidence at 94%" so they're not just staring at a blank terminal perhaps?
Synced from DIM-923 by jetson
Right now our pre-map & getting ready to start doing nav workflow is fragmented, and docs live in pgo.md. There should be better UX for recording & doing loop closure, prepping all the grunt work for ready to nav.
Having good docs is a first.
Then, may consider having cli flow, think about we have 3 commands total.
dimos record- they teleop the robot around.dimos map build recording.db- they get a map.dimos nav --map office.tc2.lcm- robot boots, relocalizes, accepts goals. If this flow is clean, the doc almost writes itself because there's nothing to explain.Would be great ot have live feedback during each session
Synced from DIM-923 by jetson