mv start and polygon to 0,0 , otherwise navigation fails to get to it

Author: adivardi

opennav_coverage_demo/launch/coverage_demo_launch.py

@@ -87,8 +87,10 @@ def generate_launch_description():
     )
 
     pose = {
-        "x": 5.00,
-        "y": 5.00,
+        # "x": 5.00,
+        # "y": 5.00,
+        "x": 0.00,
+        "y": 0.00,
         "z": 0.10,
         "R": 0.00,
         "P": 0.00,

opennav_coverage_demo/opennav_coverage_demo/demo_coverage.py

@@ -146,7 +146,8 @@ def main():
     navigator.startup()
 
     # Some example field
-    field = [[5.0, 5.0], [5.0, 15.0], [15.0, 15.0], [10.0, 5.0], [5.0, 5.0]]
+    # field = [[5.0, 5.0], [5.0, 15.0], [15.0, 15.0], [10.0, 5.0], [5.0, 5.0]]
+    field = [[0.0, 0.0], [0.0, 15.0], [15.0, 15.0], [10.0, 0.0], [0.0, 0.0]]
     navigator.navigateCoverage(field)
 
     i = 0