search

refills-project / refills_first_review

Configuration and launch-files for the use case scenarios of the first REFILLS review.
1 stars 2 forks source link

donbot brain does not die gracefully #3

Open sunava opened 6 years ago

sunava commented 6 years ago

@ichumuh @amaldo @airballking when killing donbot_brain the process does not terminate cleanly. I got the following printouts:

rosrun refills_first_review donbot_brain.py 
[WARN] [1526988616.513472]: Could not process inbound connection: Client [/rviz_1526988393076678482] wants topic [/visualization_marker_array] to have datatype/md5sum [visualization_msgs/MarkerArray/90da67007c26525f655c1c269094e39f], but our version has [visualization_msgs/MarkerArray/d155b9ce5188fbaf89745847fd5882d7] Dropping connection.{'topic': '/visualization_marker_array', 'tcp_nodelay': '0', 'md5sum': '90da67007c26525f655c1c269094e39f', 'type': 'visualization_msgs/MarkerArray', 'callerid': '/rviz_1526988393076678482'}
[INFO] [1526988616.681730]: connecting to nav_pcontroller/move_base ...
[INFO] [1526988616.914286]: connected to nav_pcontroller/move_base
[INFO] [1526988617.433099]: connecting to /qp_controller/command
[INFO] [1526988617.716127]: connected to /qp_controller/command
start demo? [y/n]y
[INFO] [1526988629.157231]: starting REFILLS scenario 1 demo
[INFO] [1526988629.157586]: shelf baseboard detection requires manuel mode
[INFO] [1526988629.157793]: move to free space plx, THE ARM WILL MOVE!!!
done? [y/n]y
add new shelf system? [y/n]y
sending belief_new_object(dmshop:'DMShelfSystem', R), rdf_assert(R, knowrob:describedInMap, iaishop:'IAIShop_0', belief_state)
solutions [{u'R': u"'http://knowrob.org/kb/dm-market.owl#DMShelfSystem_SXBMDKHL'"}]
----------------------
[INFO] [1526988663.261109]: added shelf system http://knowrob.org/kb/dm-market.owl#DMShelfSystem_SXBMDKHL
[INFO] [1526988663.261399]: moving arm to baseboard scanning pose
[INFO] [1526988679.625779]: scan QR codes plx
finished scanning shelf system? [y/n][INFO] [1526988773.242535]: added shelf system 0
[INFO] [1526988792.575465]: added shelf system 335
[INFO] [1526988795.678375]: added shelf system 331
[INFO] [1526988840.292261]: added shelf system 1
[INFO] [1526988840.292744]: added shelf system 2
[INFO] [1526988861.237270]: shelf system 2 complete
[INFO] [1526988861.433564]: added shelf system 3
[INFO] [1526988878.844260]: shelf system 3 complete
^C^C^C^C^C^C^C
ichumuh commented 6 years ago

This is because the brain is waiting for keyboard input. If you press enter it will die. If the brain is actually scanning, or waiting for goals, it should die properly.