From 80eaf10f15e5c08df6a894e62f629910b1218262 Mon Sep 17 00:00:00 2001
From: hello-chintan <cdesai@hello-robot.com>
Date: Fri, 31 Mar 2023 17:18:31 -0700
Subject: [PATCH] Minor fixes

---
 .../src/hello_helpers/base_move_by.py         | 20 +++++++------------
 stretch_core/launch/base_move_by.launch       |  1 +
 2 files changed, 8 insertions(+), 13 deletions(-)

diff --git a/hello_helpers/src/hello_helpers/base_move_by.py b/hello_helpers/src/hello_helpers/base_move_by.py
index ccf4945..7b32369 100755
--- a/hello_helpers/src/hello_helpers/base_move_by.py
+++ b/hello_helpers/src/hello_helpers/base_move_by.py
@@ -17,7 +17,6 @@ class BaseMoveBy(hm.HelloNode):
         hm.HelloNode.__init__(self)
         self.joint_state = None
         self.robot_pose = None
-        self.command_sent = False
 
     def base_translate(self, trans):
         print('Base translate command received')
@@ -114,8 +113,6 @@ class BaseMoveBy(hm.HelloNode):
                 else: # Could cause a bug where if the goal is overshot, the robot keeps turning
                     theta_err = -(abs(command['inc']) - theta_travelled)
 
-                print(theta_err)
-
             self.twist.angular.z = 0.0
             self.base_vel.publish(self.twist)
 
@@ -149,23 +146,20 @@ class BaseMoveBy(hm.HelloNode):
         rospy.Subscriber('/stretch/joint_states', JointState, self.joint_states_callback)
         rospy.Subscriber('/pose2D', Pose2D, self.pose2d_callback)
         self.base_vel = rospy.Publisher('/stretch/cmd_vel', Twist, queue_size=1) #/stretch_diff_drive_controller/cmd_vel for gazebo
-
-        self.command_sent = False
         
-        for i in range(5):
+        while not rospy.is_shutdown():
             time.sleep(2)
             self.base_translate(0.5)
             time.sleep(2)
-            self.base_rotate(-3.14)
+            self.base_rotate(-1.57)
+            self.base_rotate(-1.57)
             time.sleep(2)
             self.base_translate(0.5)
             time.sleep(2)
-            self.base_rotate(-3.14)
+            self.base_rotate(-1.57)
+            self.base_rotate(-1.57)
 
 
 if __name__ == '__main__':
-    try:
-        base = BaseMoveBy()
-        base.main()
-    except KeyboardInterrupt:
-        rospy.loginfo('interrupt received, so shutting down')
\ No newline at end of file
+    base = BaseMoveBy()
+    base.main()
diff --git a/stretch_core/launch/base_move_by.launch b/stretch_core/launch/base_move_by.launch
index 5669881..efc7ac6 100644
--- a/stretch_core/launch/base_move_by.launch
+++ b/stretch_core/launch/base_move_by.launch
@@ -3,6 +3,7 @@
   <!-- STRETCH DRIVER -->
   <param name="/stretch_driver/broadcast_odom_tf" type="bool" value="true"/>
   <param name="/stretch_driver/fail_out_of_range_goal" type="bool" value="false"/>
+  <param name="/stretch_driver/mode" type="string" value="navigation" />
   <include file="$(find stretch_core)/launch/stretch_driver.launch" pass_all_args="true"/>
   <!-- -->