Changed topic to just different one for start node in call mode .

App/RobobinApp/Views/MainPage.xaml.cs

@@ -52,6 +52,11 @@ namespace RobobinApp.Views
 
         private void OnGraphicsViewTapped(object sender, TappedEventArgs e)
         {
+            if (App.WifiManager.Mode != "Call")
+            {
+                DisplayAlert("NO CALL","Bin must be in call mode to use this feature!","Sorry!");
+                return;
+            }
             var tapPoint = e.GetPosition(GraphicsView);
             var drawable = (GraphicsDrawable)Resources["drawable"];
 

App/RobobinApp/Views/MainPage_Android.xaml.cs

@@ -26,6 +26,11 @@ namespace RobobinApp.Views
 
         private void OnGraphicsViewTapped(object sender, TappedEventArgs e)
         {
+            if (App.WifiManager.Mode != "Call")
+            {
+                DisplayAlert("NO CALL", "Bin must be in call mode to use this feature!", "Sorry!");
+                return;
+            }
             var tapPoint = e.GetPosition(GraphicsView);
             var drawable = (GraphicsDrawable)Resources["drawable"];
 

ros2/src/robobin/robobin/uwb_navigation_node.py

@@ -66,6 +66,7 @@ class UWBNode(Node):
         super().__init__('uwb_navigation_node')
 
         self.publisher = self.create_publisher(Point, '/tag1_location', 10)
+        self.start_publisher = self.create_publisher(Point, '/start_location', 10)
         self.target_location_pub = self.create_publisher(Point, '/target_location', 10)
         self.api_pub = self.create_publisher(String, '/api_command', 10)
       
@@ -167,9 +168,9 @@ class UWBNode(Node):
         # Extract yaw from quaternion using transforms3d
         orientation_q = msg.orientation
         orientation_list = [orientation_q.w, orientation_q.x, orientation_q.y, orientation_q.z] 
-        roll, pitch, yaw = quat2euler(orientation_list)  # Converts quaternion to Euler angles
+        # roll, pitch, yaw = quat2euler(orientation_list)  # Converts quaternion to Euler angles
 
-        self.current_yaw = yaw  # Update current yaw
+        self.current_yaw = 0  # Update current yaw
         # self.get_logger().info(f"IMU Yaw: {yaw:.2f} radians")
 
     def determine_anchor_coords(self, measured_distances):
@@ -304,7 +305,7 @@ class UWBNode(Node):
 
                         # Publish current position
                         position_msg = Point(x=self.current_tag1_position[0], y=self.current_tag1_position[1], z=0.0)
-                        self.publisher.publish(position_msg)
+                        self.start_publisher.publish(position_msg)
 
                         # Publish target position
                         target_msg = Point(x=target_pos[0], y=target_pos[1], z=0.0)

ros2/src/robobin/robobin/uwb_pathing_node.py

@@ -13,7 +13,7 @@ class UWBPathingNode(Node):
         self.cmd_vel_pub = self.create_publisher(Twist, '/cmd_vel', 10)
 
         # Subscriptions
-        self.create_subscription(Point, '/tag1_location', self.current_location_callback, 10)
+        self.create_subscription(Point, '/start_location', self.current_location_callback, 10)
         self.create_subscription(Point, '/target_location', self.target_location_callback, 10)
 
         # Current and target positions