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clubcapra / markhor

🐐 Capra-Markhor is a ROS-based solution for managing and operating Club Capra's second rescue robot. 🐐
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Launch update #39

Closed saxtot closed 2 years ago

saxtot commented 2 years ago

Splits base into parkour and observation to allow for lower CPU usage. Base is changed accordingly, could be used for demos. As most of observation is not individually functional, this is mostly to merge the parkour.launch addition. makrhor_common.launch, markhor_all_cameras.launch and markhor_parkour.launch are 100% functional.

saxtot commented 2 years ago

I added some questions. But I'm not sure about the naming, mainly. Also, have you tested it on the robot?

Also, what's the launch flow? Is it when we start the challenge, we launch parkhour? Then when we have to do the readiness test, we kill some nodes, and then we launch the observation launch file?

Challenges: parkour is for the phase of the challenges where the robot goes back and forth through the challenge. When it is time for the readiness test, you kill it and activate observation with the launch handler, it should take about 45 seconds total to go from one to the other based on experience.

Tests: parkour and common have been thoroughly tested in the last few days. observation is filled by mostly untested packages right now, so it is there for reference and was to be functional tomorrow. I will see what I can do from home instead.

lvanasse commented 2 years ago

I added some questions. But I'm not sure about the naming, mainly. Also, have you tested it on the robot? Also, what's the launch flow? Is it when we start the challenge, we launch parkhour? Then when we have to do the readiness test, we kill some nodes, and then we launch the observation launch file?

Challenges: parkour is for the phase of the challenges where the robot goes back and forth through the challenge. When it is time for the readiness test, you kill it and activate observation with the launch handler, it should take about 45 seconds total to go from one to the other based on experience.

Tests: parkour and common have been thoroughly tested in the last few days. observation is filled by mostly untested packages right now, so it is there for reference and was to be functional tomorrow. I will see what I can do from home instead.

That sounds fine with me. It is actually what we did with Takin back in Australia. Also, I'm wondering what you think, will the observation launch file will contain the files for launching the arm and the gripper?

GLDuval commented 2 years ago

Should common really be included in oberservation and parkour? I don't really like that we kill nodes just to relaunch them a few seconds later. Could we perhaps have common launched separately then when we launch/kill observation and parkour we won't kill the estop, ui, etc.

lvanasse commented 2 years ago

Should common really be included in oberservation and parkour? I don't really like that we kill nodes just to relaunch them a few seconds later. Could we perhaps have common launched separately then when we launch/kill observation and parkour we won't kill the estop, ui, etc.

In the launch handler, we could have a list of protected nodes that, when switching from one mode to the other, doesn't kill those nodes. But that would require to exclude those nodes in the launch files if they are already running. Might be a bit of work, but I think it's doable.

GLDuval commented 2 years ago

I guess we would also need to add a "Force kill" to kill protected nodes otherwise it wouldn't be possible to kill them

saxtot commented 2 years ago

That sounds fine with me. It is actually what we did with Takin back in Australia. Also, I'm wondering what you think, will the observation launch file will contain the files for launching the arm and the gripper?

That was my current trajectory, yes.