(self, keyframe_image_msg:Image, keyframe_odom_msg:Odometry, depth_msg:Image)
| 338 | for index, key in enumerate(keys): |
| 339 | pois_dict[index] = np.array(self.pois[str(key)]["position"]) |
| 340 | self.pois = pois_dict |
| 341 | |
| 342 | if not self.pois: |
| 343 | self.poi_index = -1 |
| 344 | self.cached_nav_path_in_map = None |
| 345 | # Signal planning_node to clear target_pose so it stops publishing paths |
| 346 | dummy_pose = np.eye(4) |
| 347 | self.poi_change_pub.publish(np2msg(dummy_pose, self.get_clock().now().to_msg(), "world", "map")) |
| 348 | self.get_logger().info("POIs cleared, navigation cancelled") |
| 349 | return |
nothing calls this directly
no test coverage detected