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tf fix for navigation to tagged location #1031

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sinha7y wants to merge 4 commits into from
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tf fix for navigation to tagged location #1031

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26b84d4
tf fix for navigation to tagged location
sinha7y Jan 15, 2026
706fb2b
additional tf fix in _navigat_by_tagged_location()
sinha7y Jan 15, 2026
4ea54d8
Added configurable variable for tf type in navigation skill container
sinha7y Jan 16, 2026
9ade7db
CI code cleanup
sinha7y Jan 16, 2026
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6 changes: 3 additions & 3 deletions dimos/agents/skills/navigation.py
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Original file line number Diff line number Diff line change
Expand Up @@ -93,7 +93,7 @@ def tag_location(self, location_name: str) -> str:

if not self._skill_started:
raise ValueError(f"{self} has not been started.")
tf = self.tf.get("map", "base_link", time_tolerance=2.0)
tf = self.tf.get("world", "base_link", time_tolerance=2.0)
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@greptile-apps greptile-apps Bot Jan 15, 2026

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logic: frame mismatch: tagging uses world frame but navigation to tagged locations uses map frame (line 165). In the TF tree, map is parent to world (rosnav.py:231-232). When retrieving a tagged location, the stored coordinates will be in world frame but the navigation goal is created with frame_id="map", causing incorrect positioning.

Suggested change
tf = self.tf.get("world", "base_link", time_tolerance=2.0)
tf = self.tf.get("map", "base_link", time_tolerance=2.0)

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@spomichter spomichter Jan 15, 2026

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@sinha7y is this true

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@sinha7y sinha7y Jan 16, 2026 •
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it was fixed with the previous commit

if not tf:
return "Could not get the robot's current transform."

Expand Down Expand Up @@ -162,7 +162,7 @@ def _navigate_by_tagged_location(self, query: str) -> str | None:
goal_pose = PoseStamped(
position=make_vector3(*robot_location.position),
orientation=Quaternion.from_euler(Vector3(*robot_location.rotation)),
frame_id="map",
frame_id="world",
)

result = self._navigate_to(goal_pose)
Expand Down Expand Up @@ -393,7 +393,7 @@ def _get_goal_pose_from_result(self, result: dict[str, Any]) -> PoseStamped | No
return PoseStamped(
position=make_vector3(pos_x, pos_y, 0),
orientation=Quaternion.from_euler(make_vector3(0, 0, theta)),
frame_id="map",
frame_id="world",
)


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