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Fix false trajectory success when blocked by obstacle #579

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Change Overview

Just changed some logic inside of handle_trajectory() member function to properly handle the new flags/logic created in the corresponding spot_wrapper branch. Going to keep this as a draft until the corresponding branch in spot_wrapper is merged to main.

Testing Done

Tested on Rex in spot lab. Confirmed that it will report "Trajectory complete: failed to reach goal" if it is unable to reach the goal. Previously, it would instead say "Reached goal" and success. Trajectory duration time out fail also tested and still sends proper feedback and result.

…h goal due to obstacle, using new flags and logic in spot_wrapper
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