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RobotLocomotion / robot-plan-runner

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Cleaning Error Logic #17

Open hjsuh94 opened 3 years ago

hjsuh94 commented 3 years ago

The error handling logic seems slightly strange atm, and we should give here another pass.

We also need to document different sources of error and how to notify the user. So far three cases have been discovered.

  1. Errors coming out of a mathematicalprogram in step function (kNoSolutionFound)
  2. Errors coming out of invalid commands (NaNs, etc.)
  3. Communication timeout with IIWA.
hjsuh94 commented 3 years ago

Bumping up priority for this one....I found it hard to debug without it telling me why it went to ERROR state.