[harishthakur52]

The point-goal is now set by tapping the floor in the camera view instead of typing distances.

• Distance is worked out from the camera height above the floor: height / tan(angle below the horizon)
• Taps on a wall or window are rejected, because their ray never meets the floor
• The goal stays fixed in the world, so it doesn't drift
• The robot stops at the goal, or when it passes it, so it doesn't circle

[thias15]

Thanks @harishthakur52, tapping the goal works much better than typing distances, and the stop on finger-down and the safety timer are great additions.

One fix before merging:

• Safety timer: onArCoreUpdate sets lastNavUpdateMs before it drops frames older than 100 ms. If every frame is late, no new command is sent but the timer keeps being reset, so the robot drives on with its last command. Please set it only after a command was sent, the way the iOS version handles skipped frames.

Camera height:

• Please don't save the measured height between sessions; the phone may be mounted differently next time. Start each session from the body the robot reports when it connects (vehicle.getVehicleType()), and use the live measurement once the floor is found. Starting heights, worked out from the CAD files and photos (about ±3 cm):

  Body	Height
  RTR_520	0.16 m
  RC_CAR	0.22 m
  MTV	0.23 m
  everything else	0.12 m

Smaller things:

• The safety-timer thread is started in onViewCreated but only quit in onDestroy, so going back and forth to the screen leaves extra threads. Start it in onCreate, or quit it in onDestroyView.
• A tap while ARCore isn't tracking is kept and placed later without a message. Better to reject it with a hint.

[thias15]

Tested the Android app. For me it does not even open, crashes instantly. So unable to test.

[harishthakur52]

Tested the Android app. For me it does not even open, crashes instantly. So unable to test.

@thias15 have you added your own google-services.json in robot/android/app/? The repo only has a dummy one, and with the dummy file the app crashes at startup. With a real one it opens fine. Please let me know if it still crashes.

Also, please send me the device name you are testing on.

[thias15]

I just downloaded the one being built from artifact. Shouldn't this have everything? Using Samsung s22 ultra

[harishthakur52]

I just downloaded the one being built from artifact. Shouldn't this have everything? Using Samsung s22 ultra

The PR artifact is built without the real google-services.json, so it crashes at launch. Once the fixes are merged, the next release will include it. In the meantime, we’ve shared the same APK with the real credentials on Slack.