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kas-lab / suave

An Exemplar for Self-Adaptive Underwater Vehicles performing pipeline inspection
https://kas-lab.github.io/suave/
Apache License 2.0
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Exception: The 'success' field must be of type 'bool'. Request: suave_msgs.srv.Task_Request(task_name='inspect_pipeline') #146

Closed tobiaswjohn closed 4 months ago

tobiaswjohn commented 5 months ago

Exception after the pipeline is found.

Example log:

1705671737.4238605 [time_constrained_mission-1] [INFO] [1705671737.423570505] [mission_node]: Task search_pipeline completed
1705671737.4257631 [task_bridge_metacontrol-11] [INFO] [1705671737.425620538] [adpatation_goal_bridge]: cancel f_maintain_motion
1705671737.4267545 [task_bridge_metacontrol-11] [INFO] [1705671737.426642901] [adpatation_goal_bridge]: cancel requested f_maintain_motion
1705671738.4253321 [time_constrained_mission-1] [INFO] [1705671738.425059969] [mission_node]: Starting inspect_pipeline task
1705671738.4694607 [mros2_system_modes_bridge-10] [INFO] [1705671738.469373382] [system_modes_bridge]: requested node name is f_maintain_motion and mode is fd_unground
1705671738.5521276 [mode_manager-8] [INFO] [1705671738.551886924] [__mode_manager]: -> callback change_mode of f_maintain_motion to fd_unground
1705671738.5522842 [mode_manager-8] [INFO] [1705671738.551941885] [__mode_manager]:  changing mode of f_maintain_motion to fd_unground
1705671738.5525389 [mode_manager-8] [INFO] [1705671738.552210898] [__mode_manager]:  changing state of f_maintain_motion_node: deactivate
1705671738.5544169 [mode_manager-8] [WARN] [1705671738.554079834] [__mode_manager]: Deviation detected in system or part 'f_maintain_motion': should be active.fd_unground, but is activating.
1705671738.5545092 [mode_manager-8] [WARN] [1705671738.554118442] [__mode_manager]: Deviation detected in system or part 'f_maintain_motion_node': should be inactive, but is deactivating.
1705671738.5546808 [recover_thrusters-7] [INFO] [1705671738.554093297] [f_maintain_motion_node]: on_deactivate() is called.
1705671738.5554893 [mros2_system_modes_bridge-10] [INFO] [1705671738.555266830] [system_modes_bridge]: Response received: True
1705671738.5585377 [mros2_system_modes_bridge-10] [INFO] [1705671738.558421823] [system_modes_bridge]: requested node name is f_generate_search_path and mode is fd_spiral_medium
1705671738.6430011 [mode_manager-8] [INFO] [1705671738.642731438] [__mode_manager]: -> callback change_mode of f_generate_search_path to fd_spiral_medium
1705671738.6431749 [mode_manager-8] [INFO] [1705671738.642777744] [__mode_manager]:  changing mode of f_generate_search_path to fd_spiral_medium
1705671738.6434581 [mode_manager-8] [ERROR] [1705671738.642874511] [__mode_manager]: Redundant mode change of f_generate_search_path to fd_spiral_medium - ignored.
1705671738.6485939 [mros2_system_modes_bridge-10] [INFO] [1705671738.648448916] [system_modes_bridge]: Response received: True
1705671742.4276187 [task_bridge_metacontrol-11] [WARN] [1705671742.427392904] [adpatation_goal_bridge]: Future cancel mros_objective not completed f_maintain_motion
1705671742.4280035 [task_bridge_metacontrol-11] [INFO] [1705671742.427753016] [adpatation_goal_bridge]: cancel f_generate_search_path
1705671742.4282978 [task_bridge_metacontrol-11] [INFO] [1705671742.428213372] [adpatation_goal_bridge]: cancel requested f_generate_search_path
1705671747.4291916 [task_bridge_metacontrol-11] [WARN] [1705671747.428946555] [adpatation_goal_bridge]: Future cancel mros_objective not completed f_generate_search_path
1705671747.4304521 [task_bridge_metacontrol-11] [INFO] [1705671747.430311326] [adpatation_goal_bridge]: Waiting for future to complete
1705671747.4316099 [task_bridge_metacontrol-11] [INFO] [1705671747.431507176] [adpatation_goal_bridge]: Sending adaptation goal  f_maintain_motion
1705671747.4322195 [task_bridge_metacontrol-11] [INFO] [1705671747.432132025] [adpatation_goal_bridge]: MROS objective f_maintain_motion sent!!!
1705671752.4335523 [task_bridge_metacontrol-11] [WARN] [1705671752.433321971] [adpatation_goal_bridge]: Future send mros_objective not completed f_maintain_motion
1705671752.4339764 [task_bridge_metacontrol-11] [INFO] [1705671752.433859977] [adpatation_goal_bridge]: Waiting for future to complete
1705671752.4350245 [task_bridge_metacontrol-11] [INFO] [1705671752.434929022] [adpatation_goal_bridge]: Sending adaptation goal  f_follow_pipeline
1705671752.4355783 [task_bridge_metacontrol-11] [INFO] [1705671752.435497138] [adpatation_goal_bridge]: MROS objective f_follow_pipeline sent!!!
1705671757.4366798 [task_bridge_metacontrol-11] [WARN] [1705671757.436435154] [adpatation_goal_bridge]: Future send mros_objective not completed f_follow_pipeline
1705671757.4371967 [task_bridge_metacontrol-11] [ERROR] [1705671757.437096327] [adpatation_goal_bridge]: Exception: The 'success' field must be of type 'bool'. Request: suave_msgs.srv.Task_Request(task_name='inspect_pipeline')
1705671893.4265573 [time_constrained_mission-1] [INFO] [1705671893.426239620] [mission_node]: Task inspect_pipeline aborted
1705671893.4281623 [task_bridge_metacontrol-11] [INFO] [1705671893.428018483] [adpatation_goal_bridge]: cancel f_maintain_motion
1705671893.4297364 [task_bridge_metacontrol-11] [INFO] [1705671893.429437054] [adpatation_goal_bridge]: cancel requested f_maintain_motion
1705671894.4282172 [time_constrained_mission-1] [INFO] [1705671894.427930386] [mission_node]: Time elapsed to detect pipeline: 144 seconds
1705671894.4285669 [time_constrained_mission-1] [INFO] [1705671894.428320573] [mission_node]: Distance inspected: 0.0 meters
Rezenders commented 4 months ago

Fixed at: d19afb3b751be524f6f0b25d06436bf8a13c872f