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rayvburn / hubero

HuBeRo - a Framework to Simulate Human Behaviour in Robot Research
https://github.com/rayvburn/hubero
BSD 3-Clause "New" or "Revised" License
3 stars 0 forks source link

other task requested during execution of a task that is not terminatable immediately blocks any further actions #26

Open rayvburn opened 2 years ago

rayvburn commented 2 years ago

How to reproduce:

Launch:

roslaunch hubero_bringup_gazebo_ros example.launch world:=parking rviz:=false

First, call:

rostopic pub --once /hubero/actor4/task/lie_down/goal hubero_ros_msgs/LieDownActionGoal "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: 'world'
goal_id:
  stamp:    
    secs: 0
    nsecs: 0
  id: ''
goal:
  frame: 'world'
  pos:
    x: 3.5
    y: 6.0
    z: 0.0
  yaw: 0.0"

and when actor is already lying, call:

rostopic pub --once /hubero/actor4/task/move_to_goal/goal hubero_ros_msgs/MoveToGoalActionGoal "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: 'world'
goal_id:
  stamp: now
  id: ''
goal:
  frame: 'world'
  pos:
    x: 5.50
    y: 6.0
    z: 0.0"

Currently, just use actions with caution - when actor is lying, call first:

rostopic pub --once /hubero/actor4/task/lie_down/cancel actionlib_msgs/GoalID "stamp:
  secs: 0
  nsecs: 0
id: ''"