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personalrobotics / ada_meal_scenario

A set of scripts for a meal serving scenario using Ada.
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feature/action_framework: Morsel detection callback continues after morsel is grabbed #30

Closed Stefanos19 closed 9 years ago

Stefanos19 commented 9 years ago

It appears that the pose of the morsel continues to change after the robot starts moving to grab it. That's because the callback continues to get called after the bite-grabbing action: https://github.com/personalrobotics/ada_meal_scenario/blob/feature/action_framework/src/actions/detect_morsal.py#L77

jeking04 commented 9 years ago

Okay, I think I got this fixed.

I fixed the stop method to actually unsubscribe: https://github.com/personalrobotics/ada_meal_scenario/blob/feature/action_framework/src/actions/detect_morsal.py#L57

I also fixed a bug in the detector that was causing many kinbodies representing the morsal to be added to the environment.

Finally, I added a dummy morsal detector so that we can test the callback in pure simulation mode:

https://github.com/personalrobotics/ada_meal_scenario/blob/feature/action_framework/test/dummy_morsal_detector.py

Give this fix a shot and let me know if it is still broken.

Stefanos19 commented 9 years ago

Great, that fixed it.