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bubgum / crw-cmu

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Boats stop without planning while in autonomous mode #47

Open GoogleCodeExporter opened 9 years ago

GoogleCodeExporter commented 9 years ago 
What steps will reproduce the problem?
1. Setup a boat and connect it to the fish farm GUI
2. Select the boat and select either uncertainty, contour or bounded filter
3. Click on auto

What do you see instead?
The boat makes its way to waypoints and stops suddenly. Thought this was the 
known bug in which the waypoint completed messages not going through but in 
spite of the timer being there which was supposed to replan after idling for a 
set amount of time, the boats still stopped.

When the boats stopped, unchecking autonomous and manually thrusting the boat, 
then checking autonomous again seems to make the boat plan again.

Original issue reported on code.google.com by abhinav....@gmail.com on 8 Mar 2012 at 9:14

GoogleCodeExporter commented 9 years ago 
[deleted comment]
GoogleCodeExporter commented 9 years ago 
This was observed in all algorithms other than Random and Lawn-mower. Did not 
observe this issue with one boat. I think this occurs only with the boats that 
are added after the first one but not sure, have to verify this.

Original comment by abhinav....@gmail.com on 12 Mar 2012 at 6:46

GoogleCodeExporter commented 9 years ago

Original comment by abhinav....@gmail.com on 12 Mar 2012 at 6:58

GoogleCodeExporter commented 9 years ago 
I'll need more information. The watchdog timer should handle this.   It is 
possible that you just needed to wait longer for the watchdog to kick in.  When 
it happens, wait a bit, mark in the log where this occurred and post the log.  
I'll be looking to see whether planning is occurring and watchdogs are being 
invoked.

Original comment by psh...@gmail.com on 20 Mar 2012 at 1:41

GoogleCodeExporter commented 9 years ago 
I am having trouble replicating.

Can I get a starting UTM location and a list of UTM waypoints for which the 
simulated boat will get stuck circling?

Just run it and copy the UTM coordinates from the log when it successfully gets 
stuck.

Original comment by psi...@gmail.com on 22 Mar 2012 at 6:20