Leaving Emergency while mowing set the state to Docking

ClemensElflein / open_mower_ros

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Leaving Emergency while mowing set the state to Docking #52

Closed alexvaut closed 3 months ago

alexvaut commented 1 year ago

In mowing state
Lift or tilt the mower => the mower goes to emergency mode
Before the mower goes to Idle after 1-2 minutes, press unlock for 2 seconds => the mower goes to docking state Since the user decided to leave the emergency mode, the mower should just continue to conitnue as it was (mowing state). If the user wants the mower to go back to the docking station then he should request expliticly to move to the docking state (by pressing the home button for instance).

2m commented 1 year ago

Yup, makes total sense! Wondering if all of the current state (current mowing area and progress of the area) is not lost, when mower enters emergency state.

ClemensElflein commented 1 year ago

True, thank you for reporting

olliewalsh commented 1 year ago

IIRC problem is that emergency aborts the current behavior - https://github.com/ClemensElflein/open_mower_ros/blob/55a3fde766d9d6906e915121c75ffac8c6628d1d/src/mower_logic/src/mower_logic/mower_logic.cpp#L387

@2m No state lost etc... it just goes into the next state i.e Docking

2m commented 1 year ago

I have also noticed this problem when mowing some bumpy grass for the first time yesterday. I have created a PR (https://github.com/ClemensElflein/open_mower_ros/pull/65) that removes the mentioned abortExecution() call. Let me know if that makes sence. I will try to test it out the mower with this change.