Ft system modes bridge

[jeroenzwan]

added service to act as bridge between mros and system_modes

[jeroenzwan]

I don't know exactly how to best test the changes I made, as I don't know how to run everything now. Also, I know there will be a few issues with trying the whole experiment, since the system_modes config is outdated (we still need to decide on the exact adaptation options)

[Rezenders]

A general comment, I was thinking and I think the system_modes_bridge.py should be part of the mc_mros_reasoner repo.

But this needs to be more generic:

        self.node_mapping = {'fd_spiral_low': ('spiral_lc_node', 'SLOW'),
                'fd_spiral_medium': ('spiral_lc_node', '__DEFAULT__'),
                'fd_spiral_high': ('spiral_lc_node', 'FAST')
                }

In the mc_mros_reasoner repo I added a required_function_name field to the service msg type https://github.com/meta-control/mc_mros_reasoner/commit/67bcd965dcc5577c57b3c6777e8c3f58ba84c67f. So required_function_name and required_fd_name can be the default node_name and mode. We just need to think how to populate this dictionary using ros params or a config file. If the solution for this is too complicated, I think we can just use the default names and move it to the mc_mros_reasoner for now.

[Rezenders]

I don't know exactly how to best test the changes I made, as I don't know how to run everything now. Also, I know there will be a few issues with trying the whole experiment, since the system_modes config is outdated (we still need to decide on the exact adaptation options)

To test you can use the mock ontology by running

ros2 launch mros2_mock mock.launch.py
ros2 run mros2_mock mock_objective.py
ros2 run pipeline_inspection_metacontrol bridge_service

[Rezenders]

When I run it I get this error:

Traceback (most recent call last):
  File "/home/gus/pipeline_ws/install/pipeline_inspection_metacontrol/lib/pipeline_inspection_metacontrol/bridge_service", line 33, in <module>
    sys.exit(load_entry_point('pipeline-inspection-metacontrol', 'console_scripts', 'bridge_service')())
  File "/home/gus/pipeline_ws/build/pipeline_inspection_metacontrol/pipeline_inspection_metacontrol/system_modes_bridge.py", line 52, in main
    rclpy.spin(bridge_service)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin
    executor.spin_once()
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 713, in spin_once
    raise handler.exception()
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/task.py", line 239, in __call__
    self._handler.send(None)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 418, in handler
    await call_coroutine(entity, arg)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 372, in _execute_service
    response = await await_or_execute(srv.callback, request, srv.srv_type.Response())
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 107, in await_or_execute
    return callback(*args)
  File "/home/gus/pipeline_ws/build/pipeline_inspection_metacontrol/pipeline_inspection_metacontrol/system_modes_bridge.py", line 35, in change_mode_cb
    callback_group=ReentrantCallbackGroup()) 
NameError: name 'ReentrantCallbackGroup' is not defined
[ros2run]: Process exited with failure 1

[jeroenzwan]

A general comment, I was thinking and I think the system_modes_bridge.py should be part of the mc_mros_reasoner repo.

But this needs to be more generic:

        self.node_mapping = {'fd_spiral_low': ('spiral_lc_node', 'SLOW'),
                'fd_spiral_medium': ('spiral_lc_node', '__DEFAULT__'),
                'fd_spiral_high': ('spiral_lc_node', 'FAST')
                }

In the mc_mros_reasoner repo I added a required_function_name field to the service msg type meta-control/mc_mros_reasoner@67bcd96. So required_function_name and required_fd_name can be the default node_name and mode. We just need to think how to populate this dictionary using ros params or a config file. If the solution for this is too complicated, I think we can just use the default names and move it to the mc_mros_reasoner for now.

Hmm yes, I think that might be the best place. I thought it might be nice to have in the exemplar repo as an example, but we could also add that later in an example file as well.