Restore search behavior

Carter90 commented 3 years ago

Fix volatile name to what was actually implemented by the bhp srcp2 team not what was in the rules
remove round number parameters in various files
remove the home_alignment behavior
created a goto_repair_station behavior
ignore small turns smaller than abs math.pi / 16
reduce turn oscillation by reducing turn goal threshold
fix driver code to clear goal when finished a turn
created ros param for latch and volatile's locations
search looks down a bit so obstacle exceptions will trigger instead of it getting beached
change search from billiards search to correlated randomwalk

run sim

source ./srcp2-competitors/ros_workspace/install/setup.bash
catkin clean -y
catkin build
source ./devel/setup.bash
roslaunch scoot scoot.launch "mode:=man"

other term

source ./devel/setup.bash
ROS_NAMESPACE="/small_scout_1" rosrun scoot repl.py

then in the repl run

scout.searchRandomWalk.main()

When a volatile is found you should get a SystemExit: 0 from the randomwalk right before it drives away a bit from the volatile

You can check that it reported the volatile's location by looking at this new parameter

rosparam get /volatile_locations

Closes #195 #194

johncarl81 commented 3 years ago

Nice streamlining @Carter90 !

johncarl81 commented 3 years ago

You can also test this by running the docker container:

./build.sh
./runREPL.sh

then issuing the REPL command @Carter90 mentioned:

scout.searchRandomWalk.main()

johncarl81 commented 3 years ago

I did get the following None-pointer-exception:

[WARN] [1620076926.664735, 363.025000]: I found a volatile! carbon_dioxide
[INFO] [1620076926.691521, 363.032000]: Wandering...
[WARN] [1620076932.423870, 368.400000]: Exiting
Traceback (most recent call last):
  File "/SC2/src/scoot/src/behaviors/scout/searchRandomWalk.py", line 49, in random_walk
    wander()
  File "/SC2/src/scoot/src/behaviors/scout/searchRandomWalk.py", line 30, in wander
    scoot.drive(random.gauss(4, 1), ignore=ignoring)
  File "/SC2/src/scoot/src/Scoot.py", line 487, in drive
    return self.__drive(req, **kwargs)
  File "/SC2/src/scoot/src/Scoot.py", line 88, in wrapped_f
    return func(*args, **kwargs)
  File "/SC2/src/scoot/src/Scoot.py", line 467, in __drive
    raise VolatileException(value)
Scoot.VolatileException: 2

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/IPython/core/interactiveshell.py", line 3441, in run_code
    exec(code_obj, self.user_global_ns, self.user_ns)
  File "<ipython-input-1-dad883dc50b2>", line 1, in <module>
    scout.searchRandomWalk.main()
  File "/SC2/src/scoot/src/behaviors/scout/searchRandomWalk.py", line 85, in main
    random_walk(num_moves=50)
  File "/SC2/src/scoot/src/behaviors/scout/searchRandomWalk.py", line 67, in random_walk
    sys.exit(0)
SystemExit: 0

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/IPython/core/ultratb.py", line 1101, in get_records
    return _fixed_getinnerframes(etb, number_of_lines_of_context, tb_offset)
  File "/usr/local/lib/python3.8/dist-packages/IPython/core/ultratb.py", line 248, in wrapped
    return f(*args, **kwargs)
  File "/usr/local/lib/python3.8/dist-packages/IPython/core/ultratb.py", line 281, in _fixed_getinnerframes
    records = fix_frame_records_filenames(inspect.getinnerframes(etb, context))
  File "/usr/lib/python3.8/inspect.py", line 1503, in getinnerframes
    frameinfo = (tb.tb_frame,) + getframeinfo(tb, context)
AttributeError: 'tuple' object has no attribute 'tb_frame'
---------------------------------------------------------------------------
VolatileException                         Traceback (most recent call last)
/SC2/src/scoot/src/behaviors/scout/searchRandomWalk.py in random_walk(num_moves)
     48                 sys.exit(-1)
---> 49             wander()
     50     except VolatileException:

/SC2/src/scoot/src/behaviors/scout/searchRandomWalk.py in wander()
     29         rospy.loginfo("Wandering...")
---> 30         scoot.drive(random.gauss(4, 1), ignore=ignoring)
     31         scoot.turn(random.gauss(-math.pi / 4, math.pi / 4), ignore=ignoring)

/SC2/src/scoot/src/Scoot.py in drive(self, distance, **kwargs)
    486         )
--> 487         return self.__drive(req, **kwargs)
    488 

/SC2/src/scoot/src/Scoot.py in wrapped_f(*args, **kwargs)
     87             with self.lock:
---> 88                 return func(*args, **kwargs)
     89 

/SC2/src/scoot/src/Scoot.py in __drive(self, request, **kwargs)
    466                 self.control_data = data  # behaviors would fetch
--> 467                 raise VolatileException(value)
    468             elif value == MoveResult.TIMEOUT:

VolatileException: 2

During handling of the above exception, another exception occurred:

SystemExit                                Traceback (most recent call last)
    [... skipping hidden 1 frame]

/SC2/src/scoot/src/repl.py in <module>
----> 1 scout.searchRandomWalk.main()

/SC2/src/scoot/src/behaviors/scout/searchRandomWalk.py in main(task)
     84 
---> 85     random_walk(num_moves=50)
     86     scoot.brake()

/SC2/src/scoot/src/behaviors/scout/searchRandomWalk.py in random_walk(num_moves)
     66         rospy.logwarn('Exiting')
---> 67         sys.exit(0)
     68 

SystemExit: 0

During handling of the above exception, another exception occurred:

TypeError                                 Traceback (most recent call last)
    [... skipping hidden 1 frame]

/usr/local/lib/python3.8/dist-packages/IPython/core/interactiveshell.py in showtraceback(self, exc_tuple, filename, tb_offset, exception_only, running_compiled_code)
   2052                     stb = ['An exception has occurred, use %tb to see '
   2053                            'the full traceback.\n']
-> 2054                     stb.extend(self.InteractiveTB.get_exception_only(etype,
   2055                                                                      value))
   2056                 else:

/usr/local/lib/python3.8/dist-packages/IPython/core/ultratb.py in get_exception_only(self, etype, value)
    752         value : exception value
    753         """
--> 754         return ListTB.structured_traceback(self, etype, value)
    755 
    756     def show_exception_only(self, etype, evalue):

/usr/local/lib/python3.8/dist-packages/IPython/core/ultratb.py in structured_traceback(self, etype, evalue, etb, tb_offset, context)
    627             chained_exceptions_tb_offset = 0
    628             out_list = (
--> 629                 self.structured_traceback(
    630                     etype, evalue, (etb, chained_exc_ids),
    631                     chained_exceptions_tb_offset, context)

/usr/local/lib/python3.8/dist-packages/IPython/core/ultratb.py in structured_traceback(self, etype, value, tb, tb_offset, number_of_lines_of_context)
   1365         else:
   1366             self.tb = tb
-> 1367         return FormattedTB.structured_traceback(
   1368             self, etype, value, tb, tb_offset, number_of_lines_of_context)
   1369 

/usr/local/lib/python3.8/dist-packages/IPython/core/ultratb.py in structured_traceback(self, etype, value, tb, tb_offset, number_of_lines_of_context)
   1265         if mode in self.verbose_modes:
   1266             # Verbose modes need a full traceback
-> 1267             return VerboseTB.structured_traceback(
   1268                 self, etype, value, tb, tb_offset, number_of_lines_of_context
   1269             )

/usr/local/lib/python3.8/dist-packages/IPython/core/ultratb.py in structured_traceback(self, etype, evalue, etb, tb_offset, number_of_lines_of_context)
   1122         """Return a nice text document describing the traceback."""
   1123 
-> 1124         formatted_exception = self.format_exception_as_a_whole(etype, evalue, etb, number_of_lines_of_context,
   1125                                                                tb_offset)
   1126 

/usr/local/lib/python3.8/dist-packages/IPython/core/ultratb.py in format_exception_as_a_whole(self, etype, evalue, etb, number_of_lines_of_context, tb_offset)
   1080 
   1081 
-> 1082         last_unique, recursion_repeat = find_recursion(orig_etype, evalue, records)
   1083 
   1084         frames = self.format_records(records, last_unique, recursion_repeat)

/usr/local/lib/python3.8/dist-packages/IPython/core/ultratb.py in find_recursion(etype, value, records)
    380     # first frame (from in to out) that looks different.
    381     if not is_recursion_error(etype, value, records):
--> 382         return len(records), 0
    383 
    384     # Select filename, lineno, func_name to track frames with

TypeError: object of type 'NoneType' has no len()

Carter90 commented 3 years ago

@johncarl81 funny enough that is a good thing that is how the behaviors talk to the main state machine(task) all the other errors are due to the ipython not knowing how to handle it but the repl should still work

johncarl81 commented 3 years ago

Gotcha, so this is just the exception occurring when a volatile is detected, right?

Carter90 commented 3 years ago

Gotcha, so this is just the exception occurring when a volatile is detected, right?

Right we call exit 0 when a volatile is found that would normally be caught as an exit code by task but because we are running it from the repl the repl does not know how to handle an exit

BCLab-UNM / SC2