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pyros-dev / pyros

Python interfacing for multiprocess software - A Python blanket for ROS to hide inside
BSD 3-Clause "New" or "Revised" License
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Connection cache diff callback #84

Closed asmodehn closed 8 years ago

stonier commented 8 years ago

What are the related PR's for testing? And what is the test procedure? Important elements to look for? e.g. see example from Marco. If you want me to check/review a PR I have to guess where all the related PR's reside and then read the code to figure out what the PR is for and how to test it. That's just not feasible given how much time it consumes.

It's also much more useful having PR's like Marco's than a simple code dump for historical purposes.

Can you also elaborate on what wasn't done - you mentioned something about pyros not being able to handle quick topic flipping because the cache wasn't keying on uri's...

stonier commented 8 years ago

Part of:

stonier commented 8 years ago

Discussion at gopher_common#117

stonier commented 8 years ago

Ok, eventually found everything and the good discussion at gopher_common. Please leave crumbs for this hansel to find ;)

stonier commented 8 years ago

Your logging is killing me....

[INFO] [WallTime: 1467542821.022008] /celeros Pyros.rosinterface : Creating rosinterface topic /gopher/elevator_controller/status GoalStatusArray
[INFO] [WallTime: 1467542821.175602] /rostful Pyros.rosinterface : Topics Delta DiffTuple(added=
[['/navi/move_base/local_costmap/costmap_updates', ['/navi/move_base']], 
['/navi/move_base/global_planner/graph_edges', ['/navi/move_base']], ['/gopher/rplidar/scan/front_right', ['/navi/move_base']], ['/navi/move_base/parameter_updates', 
['/navi/move_base']], ['/navi/move_base/global_costmap/3d_sensing_layer/parameter_descriptions', 
['/navi/move_base']], ['/behaviours/splintered_reality/blackboard', ['/behaviours/splintered_reality']], 
['/gopher/elevator_controller/goal', ['/gopher/elevator_controller']], ['/gopher/goal_finisher/goal', 
['/behaviours/splintered_reality']], ['/navi/move_base/cancel', ['/navi/move_base']], 
['/gopher/sensor_3d_long_range/downsampled_obstacles', ['/navi/move_base']], 
['/gopher/rplidar/scan/side_right', ['/navi/move_base']], 
['/navi/move_base/local_costmap/3d_sensing_layer/extensions/parameter_descriptions', 
['/navi/move_base']], ['/behaviours/splintered_reality/dot/tree', ['/behaviours/splintered_reality']], 
['/navi/move_base/local_planner/visualisation/goal_march', ['/navi/move_base']], 
['/gopher/simple_motion_controller/result', ['/navi/move_base']], 
['/navi/move_base/global_planner/potential_grid_map', ['/navi/move_base']], 
['/navi/move_base/global_costmap/lidar_sideview_layer/extensions/parameter_descriptions', 
['/navi/move_base']], ['/gopher/commands/sounds/ahem', ['/navi/move_base']], 
['/gopher/goal_finisher/feedback', ['/behaviours/splintered_reality']], 
['/navi/move_base/local_planner/visualisation/solution', ['/navi/move_base']], 
['/navi/move_base/local_costmap/inflation_layer/parameter_updates', ['/navi/move_base']], 
['/navi/move_base/global_costmap/lidar_sideview_layer/extensions/parameter_updates', 
['/navi/move_base']], 
['/navi/move_base/global_costmap/lidar_front_layer/extensions/parameter_updates', 
['/navi/move_base']], ['/navi/move_base/result', ['/navi/move_base']], 
['/gopher/elevator_controller/result', ['/gopher/elevator_controller']], ['/navi/pose', ['/navi/move_base']], 
['/gopher/goal_finisher/result', ['/behaviours/splintered_reality']], 
['/navi/move_base/global_costmap/costmap', ['/navi/move_base']], ['/gopher/elevator_controller/cancel', 
['/gopher/elevator_controller']], ['/navi/move_base/global_costmap/footprint', ['/navi/move_base', 
'/navi/move_base']], ['/navi/move_base/goal', ['/navi/move_base']], 
['/navi/move_base/global_costmap/lidar_front_layer/parameter_updates', ['/navi/move_base']], ['/collision', ['/navi/move_base']], ['/navi/move_base/local_costmap/3d_sensing_layer/extensions/parameter_updates', 
['/navi/move_base']], ['/behaviours/splintered_reality/ascii/snapshot', ['/behaviours/splintered_reality']], 
['/gopher/commands/sounds/yawn', ['/navi/move_base']], 
['/gopher/sensor_3d_short_range/downsampled_obstacles', ['/navi/move_base']], 
['/navi/move_base/ClosedLoopRRTROS/parameter_descriptions', ['/navi/move_base']], 
['/navi/move_base/local_costmap/lidar_sideview_layer/parameter_updates', ['/navi/move_base']], 
['/gopher/simple_motion_controller/possible_rotations', ['/navi/move_base']], 
['/navi/move_base/global_costmap/lidar_sideview_layer/parameter_updates', ['/navi/move_base']], 
['/navi/move_base/global_planner/subgoal', ['/navi/move_base']], 
['/gopher/simple_motion_controller/cancel', ['/navi/move_base']], ['/dslam/directed_graph', 
['/navi/move_base']], ['/navi/move_base/local_costmap/costmap', ['/navi/move_base']], 
['/navi/move_base/global_planner/plan', ['/navi/move_base', '/navi/move_base']], 
['/behaviours/splintered_reality/report', ['/behaviours/splintered_reality']], 
['/behaviours/splintered_reality/introspection/publishers', ['/behaviours/splintered_reality']], 
['/behaviours/splintered_reality/log/tree', ['/behaviours/splintered_reality']], 
['/gopher/trajectory_controller/trajectory_control_end_time', ['/navi/move_base']], 
['/navi/move_base/local_costmap/inflation_layer/parameter_descriptions', ['/navi/move_base']], 
['/navi/move_base/global_costmap/3d_sensing_layer/parameter_updates', ['/navi/move_base']], ['/behaviours/splintered_reality/ascii/tree', ['/behaviours/splintered_reality']], ['/navi/move_base/status', 
['/navi/move_base']], ['/navi/move_base/global_costmap/lidar_sideview_layer/parameter_descriptions', 
['/navi/move_base']], ['/navi/trajectory', ['/navi/move_base']], ['/gopher/goal_finisher/cancel', 
['/behaviours/splintered_reality']], ['/navi/move_base/global_planner/plan_graph', ['/navi/move_base']], 
['/navi/move_base/local_costmap/lidar_sideview_layer/extensions/parameter_descriptions', 
['/navi/move_base']], ['/gopher/odom', ['/navi/move_base']], 
['/navi/move_base/global_costmap/parameter_updates', ['/navi/move_base']], 
['/navi/move_base/local_costmap/lidar_sideview_layer/parameter_descriptions', ['/navi/move_base']], 
['/navi/move_base/global_costmap/lidar_front_layer/extensions/parameter_descriptions', 
['/navi/move_base']], ['/navi/move_base/local_costmap/parameter_updates', ['/navi/move_base']], 
['/gopher/rplidar/scan/front_left', ['/navi/move_base']], 
['/navi/move_base/global_costmap/3d_sensing_layer/extensions/parameter_descriptions', 
['/navi/move_base']], ['/navi/move_base/local_costmap/parameter_descriptions', ['/navi/move_base']], 
['/navi/move_base/local_costmap/footprint', ['/navi/move_base', '/navi/move_base']], 
['/navi/move_base/global_costmap/3d_sensing_layer/extensions/parameter_updates', 
['/navi/move_base']], ['/navi/move_base/ClosedLoopRRTROS/parameter_updates', 
['/navi/move_base']], ['/gopher/simple_motion_controller/goal', ['/navi/move_base']], 
['/navi/move_base/parameter_descriptions', ['/navi/move_base']], 
['/gopher/elevator_controller/feedback', ['/gopher/elevator_controller']], 
['/navi/move_base/global_costmap/costmap_updates', ['/navi/move_base']], 
['/gopher/trajectory_controller/future_odom', ['/navi/move_base']], 
['/navi/move_base/local_planner/visualisation/committed_path', ['/navi/move_base']], 
['/navi/move_base/local_planner/visualisation/tree', ['/navi/move_base']], 
['/navi/move_base/local_costmap/lidar_sideview_layer/extensions/parameter_updates', ['/navi/move_base']], ['/navi/move_base/feedback', ['/navi/move_base']], ['/navi/move_base/local_costmap/3d_sensing_layer/parameter_updates', ['/navi/move_base']], 
['/navi/local_goal', ['/navi/move_base']], ['/gopher/goal_finisher/status', ['/behaviours/splintered_reality']], 
['/gopher/simple_motion_controller/feedback', ['/navi/move_base']], ['/navi/trajectory_distance', 
['/navi/move_base']], ['/gopher/elevator_controller/status', ['/gopher/elevator_controller']], 
['/navi/move_base/global_costmap/lidar_front_layer/parameter_descriptions', ['/navi/move_base']], 
['/navi/move_base/local_planner/visualisation/robot_waves', ['/navi/move_base']], 
['/navi/move_base/global_planner/destination', ['/navi/move_base']], 
['/navi/move_base/global_costmap/inflation_layer/parameter_updates', ['/navi/move_base']], 
['/gopher/rplidar/scan/side_left', ['/navi/move_base']], 
['/navi/move_base/local_costmap/3d_sensing_layer/parameter_descriptions', ['/navi/move_base']], 
['/navi/move_base/global_planner/distance_to_goal', ['/navi/move_base']], 
['/gopher/simple_motion_controller/status', ['/navi/move_base']], 
['/navi/move_base/global_costmap/parameter_descriptions', ['/navi/move_base']], 
['/behaviours/splintered_reality/tip', ['/behaviours/splintered_reality']], 
['/navi/move_base/global_costmap/inflation_layer/parameter_descriptions', ['/navi/move_base']]], 
removed=[])
[INFO] [WallTime: 1467542821.176335] /rostful Pyros.rosinterface : Services Delta DiffTuple(added=
[['/navi/move_base/local_costmap/3d_sensing_layer/extensions/set_parameters', ['/navi/move_base']], 
['/navi/move_base/global_costmap/get_local_costmap', ['/navi/move_base']], 
['/navi/move_base/global_costmap/lidar_sideview_layer/set_parameters', ['/navi/move_base']], 
['/navi/move_base/local_costmap/3d_sensing_layer/set_parameters', ['/navi/move_base']], 
['/navi/move_base/ClosedLoopRRTROS/set_parameters', ['/navi/move_base']], 
['/navi/move_base/global_costmap/lidar_front_layer/set_parameters', ['/navi/move_base']], 
['/navi/move_base/local_costmap/lidar_sideview_layer/set_parameters', ['/navi/move_base']], 
['/navi/move_base/local_costmap/set_parameters', ['/navi/move_base']], 
['/navi/move_base/global_costmap/inflation_layer/set_parameters', ['/navi/move_base']], 
['/navi/move_base/global_costmap/lidar_sideview_layer/extensions/set_parameters', 
['/navi/move_base']], 
['/navi/move_base/global_costmap/3d_sensing_layer/extensions/set_parameters', 
['/navi/move_base']], ['/navi/move_base/local_costmap/inflation_layer/set_parameters', 
['/navi/move_base']], ['/navi/move_base/local_costmap/get_costmap', ['/navi/move_base']], 
['/navi/move_base/make_plan', ['/navi/move_base']], 
['/navi/move_base/global_costmap/set_parameters', ['/navi/move_base']], 
['/navi/move_base/local_costmap/lidar_sideview_layer/extensions/set_parameters', 
['/navi/move_base']], ['/navi/move_base/global_costmap/3d_sensing_layer/set_parameters', 
['/navi/move_base']], ['/navi/move_base/global_costmap/lidar_front_layer/extensions/set_parameters',
 ['/navi/move_base']], ['/navi/move_base/global_planner/make_plan', ['/navi/move_base']], 
['/navi/move_base/clear_costmaps', ['/navi/move_base']], ['/navi/move_base/set_parameters', 
['/navi/move_base']]], removed=[])
[INFO] [WallTime: 1467542821.180168] /rostful Pyros.rosinterface : Creating rosinterface topic 
/gopher/elevator_controller/status GoalStatusArray
[INFO] [WallTime: 1467542822.048061] /celeros Pyros.rosinterface : DiffTuple(added=
['/gopher/elevator_controller/status'], removed=[])
[INFO] [WallTime: 1467542822.190097] /rostful Pyros.rosinterface : DiffTuple(added=
['/gopher/elevator_controller/status'], removed=[])

[2016-07-03 19:47:23,478: INFO/MainProcess] Started consuming from <unbound Queue deliveries -> <unbound Exchange celeros(direct)> -> deliveries>
stonier commented 8 years ago

Please switch the loginfo's off. Unless it's a one-shot or quite infrequent message that's useful for alerting us (i.e. robot/test engineers) of some important information, switch them to logdebug, off to a log file, or shunt them out on a debug publisher (check for NumSubscribers first).