Response to PR comments

config/ouster_jackal_default.yaml

@@ -55,6 +55,7 @@
       origin_lng: -79.4661
       origin_theta: 1.3
       scale: 1.0
+      gps_topic: "/novatel/fix"
     tactic:
       enable_parallelization: true
       preprocessing_skippable: false

main/src/vtr_gui/vtr_gui/vtr-gui/src/components/graph/GraphMap.js

@@ -48,10 +48,11 @@ import DeleteIcon from "@mui/icons-material/Delete";
 
 /// pose graph constants
 const ROUTE_TYPE_COLOR = ["#ff0000", "#fd4a18", "#ffa500", "#fecd29", "#ffff00", "#6aaf1e", "#008000", "#000000"];
-const ROUTE_TYPE_WIDTH = [0.2, 0.5, 1.0, 1.5, 2.0, 2.5, 10.0, 0.05];
+const ROUTE_TYPE_WIDTH = [0.4, 1.0, 2.0, 3.0, 4.0, 5.0, 20.0, 0.05];
 const ROUTE_TYPE_OPACITY = [0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.9];
+const ANNOTATE_LINE_COLOR = "#000000";
+const ANNOTATE_LINE_WIDTH = 0.5;
 const GRAPH_OPACITY = 0.9;
-const GRAPH_WEIGHT = 7;
 
 /// robot constants
 const ROBOT_OPACITY = 0.8;
@@ -1157,11 +1158,11 @@ class GraphMap extends React.Component {
         });
         if (this.annotate_polyline === null) {
           this.annotate_polyline = L.polyline(latlngs, {
-            color: "#000000",
+            color: ANNOTATE_LINE_COLOR,
             opacity: GRAPH_OPACITY,
-            weight: GRAPH_WEIGHT,
+            weight: this.metres2pix(ANNOTATE_LINE_WIDTH),
             pane: "graph",
-            lineCap: "butt"
+            lineCap: "butt",
           });
           this.annotate_polyline.addTo(this.map);
         } else {
@@ -1172,13 +1173,15 @@ class GraphMap extends React.Component {
     this.createSelector(this.annotate_route_selector, selectPathCallback);
 
     this.annotateRouteZoomEnd = () => {
+
       let type = this.state.annotate_route_type;
       this.setState({ annotate_route_type: type }, () =>
         this.annotate_polyline.setStyle({ 
-          color: ROUTE_TYPE_COLOR[type % ROUTE_TYPE_COLOR.length],
-          weight: this.metres2pix(ROUTE_TYPE_WIDTH[type % ROUTE_TYPE_COLOR.length]),
-          opacity: ROUTE_TYPE_OPACITY[type % ROUTE_TYPE_COLOR.length],
-          lineCap: "butt"
+          color: ANNOTATE_LINE_COLOR,
+          opacity: GRAPH_OPACITY,
+          weight: this.metres2pix(ANNOTATE_LINE_WIDTH),
+          pane: "graph",
+          lineCap: "butt",
         })
       );
     };
@@ -1204,10 +1207,11 @@ class GraphMap extends React.Component {
     if (this.annotate_polyline === null) return;
     this.setState({ annotate_route_type: type }, () =>
       this.annotate_polyline.setStyle({ 
-        color: ROUTE_TYPE_COLOR[type % ROUTE_TYPE_COLOR.length],
-        weight: this.metres2pix(ROUTE_TYPE_WIDTH[type % ROUTE_TYPE_COLOR.length]),
-        opacity: ROUTE_TYPE_OPACITY[type % ROUTE_TYPE_COLOR.length],
-        lineCap: "butt"
+        color: ANNOTATE_LINE_COLOR,
+        opacity: GRAPH_OPACITY,
+        weight: this.metres2pix(ANNOTATE_LINE_WIDTH),
+        pane: "graph",
+        lineCap: "butt",
       })
     );
   }

main/src/vtr_gui/vtr_gui/vtr-gui/src/components/tools/ToolsMenu.js

@@ -70,14 +70,6 @@ class ToolsMenu extends React.Component {
           waypointsMap={this.props.waypointsMap}
           handleUpdateWaypoint={this.props.handleUpdateWaypoint}
         />
-        <DeleteWaypoints
-          socket={socket}
-          active={currentTool === "delete_waypoints" ? true : false}
-          onSelect={() => selectTool("delete_waypoints")}
-          onCancel={deselectTool}
-          waypointsMap={this.props.waypointsMap}
-          handleUpdateWaypoint={this.props.handleUpdateWaypoint}
-        />
       </Box>
     );
   }

main/src/vtr_navigation/include/vtr_navigation/graph_map_server.hpp

@@ -20,7 +20,6 @@
 
 #include <utility>
 #include <proj.h>
-#include <boost/circular_buffer.hpp>
 #include <math.h>
 #include <cmath>
 
@@ -206,7 +205,7 @@ class GraphMapServer : public tactic::Graph::Callback,
 
   const float dist_thres_ = 0.1;
   bool initial_pose_set_ = false;
-  boost::circular_buffer<std::pair<int, int>> gps_coords_ {2};
+  std::deque<std::pair<int, int>> gps_coords_ {2};
 };
 
 class RvizGraphMapServer : public GraphMapServer,

main/src/vtr_navigation/src/graph_map_server.cpp

@@ -66,6 +66,7 @@ void GraphMapServer::start(const rclcpp::Node::SharedPtr& node,
   const auto lng = node->declare_parameter<double>("graph_projection.origin_lng", -79.466092);
   const auto theta = node->declare_parameter<double>("graph_projection.origin_theta", 0.);
   const auto scale = node->declare_parameter<double>("graph_projection.scale", 1.);
+  const auto pose_pub_topic_ = node->declare_parameter<std::string>("graph_projection.gpc_topic", "/novatel/fix");
 
   /// Publishers and services
   callback_group_ = node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
@@ -89,7 +90,7 @@ void GraphMapServer::start(const rclcpp::Node::SharedPtr& node,
   update_waypoint_sub_ = node->create_subscription<UpdateWaypointMsg>("update_waypoint", rclcpp::QoS(10), std::bind(&GraphMapServer::updateWaypointCallback, this, std::placeholders::_1), sub_opt);
   // clang-format on
 
-  pose_pub_ = node->create_subscription<NavSatFix>("/novatel/fix", rclcpp::QoS(10), std::bind(&GraphMapServer::poseCallback, this, std::placeholders::_1), sub_opt);
+  pose_pub_ = node->create_subscription<NavSatFix>(pose_pub_topic_, rclcpp::QoS(10), std::bind(&GraphMapServer::poseCallback, this, std::placeholders::_1), sub_opt);
 
   // initialize graph mapinfo if working on a new map
   auto map_info = graph->getMapInfo();
@@ -234,6 +235,7 @@ float GraphMapServer::deltaLatToMetres(float lat1, float lat2) {
 
 void GraphMapServer::poseCallback(const NavSatFix::ConstSharedPtr msg) {
   gps_coords_.push_back(std::make_pair(msg->longitude, msg->latitude));
+  gps_coords_.pop_front();
   const auto graph = getGraph();
   auto map_info = graph->getMapInfo();