Modify Scoring or Expose Base Station Comms Logic - Githubissues

osrf / subt

This repostory contains software for the virtual track of the DARPA SubT Challenge. Within this repository you will find Gazebo simulation assets, ROS interfaces, support scripts and plugins, and documentation needed to compete in the SubT Virtual Challenge.

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Modify Scoring or Expose Base Station Comms Logic #48

Closed osrf-migration closed 5 years ago

osrf-migration commented 5 years ago

Original report (archived issue) by Jack Kelly (Bitbucket: jack-kelly).

Because the comms is following a simple UDP-like model and we get no delivery guarantees, it seems strange to set up scoring to punish multiple packet submissions. If the base station communications callbacks (or perhaps just the class itself) were exposed in the same way that the robots are, we could implement handshakes or other delivery guarantees before calling a submitArtifact() function.

Or scoring could be modified to not remove artifacts from the list when a submission is received and instead take the closest each time, possibly replacing an old score on that particular artifact.

Or we could switch to a TCP like comms model with delivery receipts that has rate-throttling instead of the micro level packet dropping modeling that the current model has.

osrf-migration commented 5 years ago

Original comment by Martin Dlouhy (Bitbucket: robotikacz).

This is probably related to #41 ... what we had to do was to return to Base Station in order to be sure ...

osrf-migration commented 5 years ago

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

The scoring server is receiving a major upgrade in pull request #117. Scoring will still have to occur through the provided comms model. For how scoring works please refer to the guidelines in https://www.subtchallenge.com/resources/SubT_Challenge_Competition_Rules_Tunnel_Circuit.pdf. That document may answer your other comments.

osrf-migration commented 5 years ago

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

We are adding an ACK to the base station that is sent back to a caller when they report the position of an artifact. Will an inclusion of an ACK resolve this issue?

osrf-migration commented 5 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

set assignee_account_id to "557058:095b1e12-74ed-4e20-b44f-2f0745b616e0"
set assignee to "nkoenig (Bitbucket: nkoenig, GitHub: nkoenig)"

osrf-migration commented 5 years ago

Original comment by Sarah Kitchen (Bitbucket: snkitche).

Yes, we can work with that, thanks.

osrf-migration commented 5 years ago

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

See pull request #184

osrf-migration commented 5 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

changed state from "new" to "resolved"

This has been implemented, but re-open it if there are addition problems or suggestions.

osrf-migration commented 4 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

changed state from "resolved" to "closed"