delete elevator_base_bt and fix cabot2-ace_diagnostic.yaml

Signed-off-by: fukimiyazaki <[email protected]>

cabot_ui/cabot_ui/navgoal.py

@@ -782,29 +782,13 @@ def done_callback(self, future):
 
 class NarrowGoal(NavGoal):
     NARROW_BT_XML = "package://cabot_bt/behavior_trees/navigate_for_narrow.xml"
-    NARROW_BASE_ON_ELEVATOR_BT_XML = "package://cabot_bt/behavior_trees/navigate_for_narrow_base_on_elevator.xml"
     LITTLE_NARROW_BT_XML = "package://cabot_bt/behavior_trees/navigate_for_little_narrow.xml"
-    LITTLE_NARROW_BASE_ON_ELEVATOR_BT_XML = "package://cabot_bt/behavior_trees/navigate_for_little_narrow_base_on_elevator.xml"
 
     def __init__(self, delegate, navcog_route, anchor, **kwargs):
         self._need_to_announce_follow = False
         if 'need_to_announce_follow' in kwargs:
             self._need_to_announce_follow = bool(kwargs['need_to_announce_follow'])
 
-        self._is_last = False
-        if 'is_last' in kwargs:
-            self._is_last = bool(kwargs['is_last'])
-
-        self._tag = None
-        facility = None
-        if isinstance(navcog_route[0], geojson.RouteLink):
-            facility = navcog_route[0].source_node.facility
-        elif self._is_last == False:
-            facility = navcog_route[-1].target_node.facility
-
-        if facility:
-            self._tag = facility.properties.hulop_tags
-
         super(NarrowGoal, self).__init__(delegate, navcog_route, anchor, **kwargs)
 
     def enter(self):
@@ -827,10 +811,7 @@ def enter(self):
             self.delegate.please_follow_behind()
             self.wait_for_announce()
         else:
-            if self._tag == "short":
-                self.narrow_enter(NarrowGoal.LITTLE_NARROW_BASE_ON_ELEVATOR_BT_XML)
-            else:
-                self.narrow_enter(NarrowGoal.LITTLE_NARROW_BT_XML)
+            self.narrow_enter(NarrowGoal.LITTLE_NARROW_BT_XML)
 
     def done_callback(self, future):
         CaBotRclpyUtil.info("NarrowGoal completed")
@@ -856,10 +837,7 @@ def narrow_enter(self, bt):
 
     @util.setInterval(5, times=1)
     def wait_for_announce(self):
-        if self._tag == "short":
-            self.narrow_enter(NarrowGoal.NARROW_BASE_ON_ELEVATOR_BT_XML)
-        else:
-            self.narrow_enter(NarrowGoal.NARROW_BT_XML)
+        self.narrow_enter(NarrowGoal.NARROW_BT_XML)
 
     @util.setInterval(5, times=1)
     def wait_next_navi(self, future):

cabot_ui/config/cabot2-ace_diagnostic.yaml

@@ -13,6 +13,7 @@ diagnostic_aggregator:
       path: discard
       contains:
         - "Push Button 5"
+        - "PeoplePredict"
         - "realsense2_camera_manager_aligned_depth_to_color: Frequency Status"
 
     soft_cabot_ui:
@@ -43,9 +44,8 @@ diagnostic_aggregator:
       type: diagnostic_aggregator/GenericAnalyzer
       path: "Soft: People_and_Obstacle"
       contains:
-        - "People"
+        - "PeopleTrack"
         - "Obstacle"
-        - "CameraInput"
         - "Queue"
       remove_prefix:
         - "camera detect_darknet_opencv_node: "
@@ -56,6 +56,34 @@ diagnostic_aggregator:
         - "track_obstacle: "
         - "predict_obstacle: "
 
+    soft_rs:
+      type: diagnostic_aggregator/AnalyzerGroup
+      path: "Camera"
+      analyzers:
+        front:
+          type: diagnostic_aggregator/GenericAnalyzer
+          path: "Front"
+          contains:
+            - "rs1"
+          remove_prefix:
+            - "detect_darknet_people_cpp: "
+        soft_rs2:
+          type: cabot_diagnostics/CabotAnalyzer
+          path: "Right"
+          contains:
+            - "rs2"
+          remove_prefix:
+            - "detect_darknet_people_cpp: "
+          treat_as_warning: true
+        soft_rs3:
+          type: cabot_diagnostics/CabotAnalyzer
+          path: "Left"
+          contains:
+            - "rs3"
+          remove_prefix:
+            - "detect_darknet_people_cpp: "
+          treat_as_warning: true
+
     soft_ros2:
       type: diagnostic_aggregator/GenericAnalyzer
       path: "Soft: Navigation2"