Sooner-Rover-Team/auto_ros2

Add new parameters for aruco search

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#159 opened on Feb 20, 2026

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configurationgood first issuesrc/navigator

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Description

We have constants in our basic search implementation of going in a circle. These should REALLY be parameters that we can adjust when we run the node. These constants are

  • SEARCH_RADIUS: the radius of the circle we want the Rover to drive around
  • SEARCH_POINTS: how many coordinates to generate (i.e. how many points should the circle of coordinates be made of)

This issue will involve editing the NavigationParameters type in src/navigator/navigator_node/types.py

Originally posted by @onkoe in https://github.com/Sooner-Rover-Team/auto_ros2/pull/156#discussion_r2831389483

Contributor guide

Research direction
Add two new fields `search radius` and `search points` to the `NavigationParameters` type in `src/navigator/navigator node/types.py`. Then update the search function to use these parameters instead of the hardcoded constants. Ensure the node reads these parameters from the ROS2 parameter system and passes them to the search function.
Tech stack
python
Domain
backend
Issue type
Feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
1
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
Under 1 hour
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
PythonGit
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
80