gerardcanal
commented
3 years ago Hi Erfan, This is because, in tutorial 4, the simulated actions are not specifying the time, so they are instantaneous. Tutorial 5 shows how to specify the duration for the simulated actions while using the Esterel plan dispatcher. I believe this should fix your issue!
Regards, Gerard
Hello, I am following the tutorial 04. After running the program (./tutorial.bash), I got:
[ INFO] [1627156038.393794041]: KCL: (/rosplan_plan_dispatcher) Plan received. [ INFO] [1627156039.276491294]: KCL: (/rosplan_plan_dispatcher) Dispatching plan. [ INFO] [1627156039.302692802]: KCL: (/rosplan_plan_dispatcher) Dispatching action [0, undock, 0.882635, 10.000000] [ INFO] [1627156039.303001393]: KCL: (undock) action received
[ INFO] [1627156039.312793482]: KCL: (undock) Action completing with probability 1 and duration 0 [ INFO] [1627156039.312841170]: KCL: (undock) action completed successfully
[ INFO] [1627156039.376818625]: KCL: (/rosplan_plan_dispatcher) Feedback received [0, action enabled] [ INFO] [1627156039.376860961]: KCL: (/rosplan_plan_dispatcher) Feedback received [0, action achieved] [ INFO] [1627156039.476860613]: KCL: (/rosplan_plan_dispatcher) 0: action undock completed [ INFO] [1627156039.502753586]: KCL: (/rosplan_plan_dispatcher) Dispatching action [1, localise, 10.883635, 60.000000] [ INFO] [1627156039.503064413]: KCL: (localise) action received [ INFO] [1627156039.503131880]: KCL: (localise) Action completing with probability 1 and duration 0 .............
as you can see, duration of "undock" and "localise" actions are 10 [sec] and 60 [sec] respectively but they execute (completing) with 0 [sec] duration.
Would you please help me to solve this problem? Thanks in advance and regards, Erfan