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iRobotEducation / create3_examples

Example nodes to drive the iRobot® Create® 3 Educational Robot
BSD 3-Clause "New" or "Revised" License
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FeatureRequest: Coverage Server should log specific goal accepted #14

Closed slowrunner closed 2 years ago

slowrunner commented 2 years ago

Currently the Coverage Server logs "Accepting goal request" when passed a proper explore goal, and continues to log actions while performing the explore goal.

The Coverage Server does not log anything for either the /dock or /undock goals. It at least should log accepting these goals (WIBNI the Coverage Server logged what goal was accepted), and success or failure.

UPDATE: This issue asks that the "Accepting goal request" log the specific goal:

"Accepting goal request {explore | dock | undock | wall_follow}"

and log the same completion for dock, undock, wall_follow as is logged for explore:

[INFO] [1635860215.373907229] [create3_coverage]: Coverage action terminated

alsora commented 2 years ago

The dock and undock actions commanded by the coverage server are implementation details. I think it's better to just print that a behavior is starting, as you described in https://github.com/iRobotEducation/create3_examples/issues/11

slowrunner commented 2 years ago

no problem with that - loving anything you all can get to. I'm just having fun playing with you all's code.

slowrunner commented 2 years ago

Changed the title to reflect comment to "log goals" instead of "log actions".

Issue https://github.com/iRobotEducation/create3_examples/issues/11 addresses that the explore goal has told the sim to do something and the bot can be seen moving, but nothing will be visible in the coverage server output until an individual coverage server behavior (of the explore action) completes.

This issue asks that the "Accepting goal request" log the specific goal:

"Accepting goal request {explore | dock | undock | wall_follow}

and log the same completion for dock, undock, wall_follow as is logged for explore:

[INFO] [1635860215.373907229] [create3_coverage]: Coverage action terminated
slowrunner commented 2 years ago

I see my confusion now - the /undock and /dock goals (and wall follow) are not going to the coverage server at all - they are subscribed to by the bot/sim - so the Coverage server will not display "Accepting goal" for them.

Sorry.