Fix angle in remote gui and reload navigator on every move to

source/armarx/navigation/components/navigator/Component.cpp

@@ -272,6 +272,8 @@ namespace armarx::navigation::components::navigator
             executorPtr = &executor.value();
         }
 
+        // if we emplace an existing key it is not replaced, so remove it first.
+        navigators.erase(callerId);
         navigators.emplace(
             std::piecewise_construct,
             std::forward_as_tuple(callerId),

source/armarx/navigation/components/navigator/RemoteGui.cpp

@@ -15,18 +15,19 @@
 #include <ArmarXGui/interface/RemoteGuiInterface.h>
 #include <ArmarXGui/libraries/RemoteGui/WidgetProxy.h>
 
-#include "Component.h"
-#include <armarx/navigation/local_planning/TimedElasticBandsParams.h>
 #include <armarx/navigation/client/NavigationStackConfig.h>
 #include <armarx/navigation/core/types.h>
 #include <armarx/navigation/factories/NavigationStackFactory.h>
 #include <armarx/navigation/global_planning/AStar.h>
 #include <armarx/navigation/global_planning/Point2Point.h>
 #include <armarx/navigation/global_planning/SPFA.h>
+#include <armarx/navigation/local_planning/TimedElasticBandsParams.h>
 #include <armarx/navigation/server/Navigator.h>
 #include <armarx/navigation/trajectory_control/local/TrajectoryFollowingController.h>
 #include <armarx/navigation/util/util.h>
 
+#include "Component.h"
+
 namespace armarx::navigation::components::navigator
 {
     namespace gui = RemoteGui;
@@ -267,9 +268,12 @@ namespace armarx::navigation::components::navigator
                                             tab.targetPoseGroup.targetPoseY.getValue(),
                                             tab.targetPoseGroup.targetPoseZ.getValue()};
 
-            const Eigen::Vector3f targetOri{tab.targetPoseGroup.targetPoseRoll.getValue(),
-                                            tab.targetPoseGroup.targetPosePitch.getValue(),
-                                            tab.targetPoseGroup.targetPoseYaw.getValue()};
+            const auto degToRad = [](float deg) { return deg * M_PI / 180.; };
+
+            const Eigen::Vector3f targetOri{
+                degToRad(tab.targetPoseGroup.targetPoseRoll.getValue()),
+                degToRad(tab.targetPoseGroup.targetPosePitch.getValue()),
+                degToRad(tab.targetPoseGroup.targetPoseYaw.getValue())};
 
             const core::Pose targetPose = core::Pose(Eigen::Translation3f(targetPos)) *
                                           core::Pose(simox::math::rpy_to_mat3f(targetOri));