Service robot Pose Fix Enhancement

[AshishRamesh]

While working on a fix for the marker_visual_loc exercise, I noticed that several other exercises — including basic_vacuum_cleaner, vacuum_cleaner_loc, monte_carlo_laser_loc, and amazon_warehouse — rely on hard coded pose values to address the issue of the robot jumping to a different pose in the GUI when resetting / playing the exercises.
Using hardcoded values is not ideal, as they can overlap with valid coordinates and lead to unexpected behavior if the robot happens to move to one of those positions during normal execution. I have a fix for this using the timestamp that is published along with the pose. Is this something i should work on ?

[javizqh]

There are no hardcoded values in those exercises that solve that issue.

The only hardcoded values are the ones needed for the conversion between the 2d image and the Gazebo simulator coordinates.

And lastly, the error described above only happens in the marker_visual_loc exercise. In the others it does not exist.

[AshishRamesh]

       ' # Payload vars
        self.payload = {'map': '', 'user': ''}
        self.init_coords = (171, 63)
        self.start_coords = (201, 85.5)
        self.map = Map(getPose3d)

        self.start()

    # Prepares and sends a map to the websocket server
    def update_gui(self):

        pos_message = self.map.getRobotCoordinates()
        if (pos_message == self.init_coords):
            pos_message = self.start_coords
        ang_message = self.map.getRobotAngle()
        pos_message = str(pos_message + ang_message)
        self.payload["map"] = pos_message

`
As seen above there are hard coded values and when the if statement for pos_message gets commented out it shows similar behavior to the error that maker_visual_loc had.

# if (pos_message == self.init_coords): # pos_message = self.start_coords

on further testing the fix i made for marker_visual_loc works here too and fixes this issue without any hard coded values. Moreover the coords hardcoded could be valid coords which would be filtered out.