How to handle Harness Status 4 at Startup

osrf / srcsim

Space Robotics Challenge

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How to handle Harness Status 4 at Startup #204

Open osrf-migration opened 7 years ago

osrf-migration commented 7 years ago

Original report (archived issue) by Rud Merriam (Bitbucket: rmerriam).

Consider the following scenario during the competition:

The world is initialized
The robot is lowered.
The harness status stops at 4 - STAND_TO_DETACH

The robot controller is not running properly in this scenario so the weight on the feet is not sensed.

How do we proceed in the competition to restart without going through the entire constellation startup process?

This just occurred with the srcsim 0.6.0 upgrade. New custom worlds were created before this test.

osrf-migration commented 7 years ago

Original comment by Rud Merriam (Bitbucket: rmerriam).

Edited issue description

osrf-migration commented 7 years ago

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

By The robot controller is not running properly do you mean it crashed due to another issue?

osrf-migration commented 7 years ago

Original comment by Rud Merriam (Bitbucket: rmerriam).

There are numerous situations where the controller malfunctions. In this case the robot appeared to be in the position to accept control but fell once the harness was released. What I mean is the robot went from the random flailing position when first introduced to Gazebo to the ordered positioning of the limbs.

osrf-migration commented 7 years ago

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

I'm having a hard time picturing what's going on. A video / gif would help.

In any case, if the robot controller crashes at startup due to issues like #181, the workaround is to restart the whole simulation.

We'll handle that on CloudSim during the competition. During practice, you can use the Stop button to kill the simulation container and press one of the 5 play buttons again.

osrf-migration commented 7 years ago

Original comment by Steven Gray (Bitbucket: stgray).

I'm also seeing this issue where the controller doesn't crash but the robot never exits stage 4 of the reharnessing. For skipping checkpoints, we can just command the checkpoint again to repeat the reharness procedure. However, when this happens at the very beginning, we can't. Can we please make it so that the first rosservice call /srcsim/finals/start_task 1 1 starts the competition, but a subsequent rosservice call /srcsim/finals/start_task 1 1 would reharness back at the beginning?