From f0fda0895b2750d07ddce5129e848af21e2d4307 Mon Sep 17 00:00:00 2001
From: itskalvik <itskalvik@gmail.com>
Date: Tue, 3 Sep 2024 16:37:48 -0400
Subject: [PATCH] Fix Geodesy/Scipy dependency version issue

---
 README.md             | 5 ++++-
 package.xml           | 2 +-
 requirements.txt      | 3 ++-
 scripts/online_ipp.py | 2 +-
 4 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/README.md b/README.md
index 5b66f5a..981d4ea 100644
--- a/README.md
+++ b/README.md
@@ -30,7 +30,10 @@ Run the following commands in separate terminals:
     ```
     sim_vehicle.py -v Rover -f rover-skid --model JSON --add-param-file=$HOME/SITL_Models/Gazebo/config/r1_rover.param --console --map -N -l 35.30371178789218,-80.73099267294185,0.,0.
     ```
-    Note: Restart sim_vechile.py if you get the following message: ```paramftp: bad count 1294 should be 1284```
+    Note: 
+    - Restart sim_vechile.py if you get the following message: ```paramftp: bad count```
+    - Ensure the MAV Console shows that the vehicle has a GPS lock before running the next command
+    - Ensure the MAV Map shows the vehicle before running the next command
 
 - Launch [SGP-Tools](http://itskalvik.com/sgp-tools) Online IPP method:
     ```
diff --git a/package.xml b/package.xml
index cf07032..a426998 100644
--- a/package.xml
+++ b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ros_sgp_tools</name>
-  <version>1.0.0</version>
+  <version>1.0.1</version>
   <description>Companion ROS package for sgptools python library</description>
   <maintainer email="kjakkala@uncc.edu">kalvik</maintainer>
   <license>Apache-2.0</license>
diff --git a/requirements.txt b/requirements.txt
index 0191d14..439193e 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,4 +1,5 @@
 sgptools
 geopandas
 pygeodesy
-shapely
\ No newline at end of file
+shapely
+scipy <= 1.13.1
\ No newline at end of file
diff --git a/scripts/online_ipp.py b/scripts/online_ipp.py
index 04f1d15..edcf371 100755
--- a/scripts/online_ipp.py
+++ b/scripts/online_ipp.py
@@ -299,7 +299,7 @@ def update_param(self, X_new, y_new):
                        trainable_variables=self.param_model.trainable_variables[1:], 
                        optimizer='scipy')
 
-        self.get_logger().info(f'SSGP Kernel lengthscales: {self.param_model.kernel.lengthscales.numpy():.8f}')
+        self.get_logger().info(f'SSGP Kernel lengthscales: {self.param_model.kernel.lengthscales.numpy():.4f}')
         self.get_logger().info(f'SSGP Kernel variance: {self.param_model.kernel.variance.numpy():.4f}')