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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
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wrong `ActionServer` status returned #38

Open rayvburn opened 2 years ago

rayvburn commented 2 years ago

Despite of proper execution of, e.g., MoveToGoal, action status returned is PREEMPTED.

Details: TaskRequestRos::actionCbHandler template method (defined in header)

rayvburn commented 11 months ago

Log sequence:

[ INFO] [1696284260.771301895, 46.326000000]: Full control cycle time: real {0.004694262}, sim {0.003000000}
[ INFO] [1696284261.631149200, 46.821000000]: GOAL Reached!
[ INFO] [1696284261.633535832, 46.821000000]: Full control cycle time: real {0.002301379}, sim {0.000000000}
[HuBeRo] [FsmBasic] transition from ACTIVE to FINISHED
[HuBeRo] [actor2].[FsmSuper] transition from MOVE TO GOAL to STAND
[HuBeRo] [FsmBasic] transition from FINISHED to ACTIVE
[ INFO] [1696284261.638573664, 46.825000000]: Full control cycle time: real {0.004814714}, sim {0.002000000}
[HuBeRo] [actor2].[TaskRequestRos] Finishing task (2) with PREEMPTED state: a) the same task was requested with a new goal, b) current task did not finish immediately despite 'abort'
rayvburn commented 11 months ago

The reason is that after a finished navigation, the FSM immediately sends goal to another action (stand).