Escalation Message/Topic

open-rmf / rmf

Root repository for the RMF software

Apache License 2.0

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Escalation Message/Topic #66

Closed arjo129 closed 1 year ago

arjo129 commented 3 years ago

Feature request

Description

This was something mentioned by @mxgrey during a conversation. If a robot is not behaving as RMF expects it to we need a standard way to notify the humans :walking: who manage the robot so that there can be some intervention.

Implementation considerations

Probably some generic topic, with an error message? Ideally, we should log such errors to the web dashboard and some log file.

Alternatives

Hope that robots behave themselves without intervention...

cnboonhan commented 3 years ago

pardon noob question: is there some metric that RMF uses to measure how deviant is a robot? how do we decide to alert the Authorities?

arjo129 commented 3 years ago

There are lot of times where RMF sends some request and expects an Ack message. If there are no ack messages after a fixed timeout, there is probably something wrong... I guess we can add other metrics as well in future like if a robot consistently reports a location faraway from the navgraph or something like that.

cnboonhan commented 3 years ago

I see. I guess I would learn towards some sort of structured error message (maybe XML?) with fields like , , etc.. so that it's more extensible?

matiasbavera commented 3 years ago

If you have to put a number from 1 to 10, being 1 the least important and being 10 the most important, how urgent/important is it to notify the user on the UI that a robot is not behaving as it should.

Should priorities be handled in this type of case? E.g:

Robot A is not doing anything (priority: Low)
Robot B is on a loop task (priority: medium)
Robot C is delivering a cold beer (priority: high)

If that the case we can measure how invasive the notification should be for the final user.

HTH

Yadunund commented 1 year ago

Resolved via https://github.com/open-rmf/rmf_ros2/pull/183