Create code for Objective Error observer

rosin-project / metacontrol_sim

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Create code for Objective Error observer #40

Closed marioney closed 4 years ago

marioney commented 4 years ago

Observer for Objective error: needed for scenarios 3 in yellow table

Should check if there's an error when the route is not available.
- Path length 0
Check move_base/result topic
Should check if the robot is blocked (not moving after X seconds)

Objective should publish: "true" if there's an error "false" if the system is running OK.

Also create another another observer on the rosgraph_observer to send it to the reasoner

https://docs.google.com/document/d/1BaOxo7_WQ2fUUUWIyw5pE_K_q6sErQJXge5VeFjyhgQ/edit#bookmark=id.4rg7xmp249au

marioney commented 4 years ago

@darkobozhinoski @chcorbato A quick question, if an error is received, the message is sent but when should we clear the objective error (change the error message to false again)

Options are:

When a new goal (reconfiguration) is received
Only send the error one time
Keep the error for X seconds

marioney commented 4 years ago

Done in https://github.com/rosin-project/metacontrol_sim/commit/87ad4e04383265bc03cbd1468b641b4ae3b3df4f and https://github.com/rosin-project/rosgraph_monitor/commit/674fc297aa8b28a0a7af40c79871a8af27ea026a

* Keep the error for X seconds

For now the error message is published for 1 sec.

chcorbato commented 4 years ago

@darkobozhinoski @chcorbato A quick question, if an error is received, the message is sent but when should we clear the objective error (change the error message to false again)

I am not sure.

Options are:

When a new goal (reconfiguration) is received

Only send the error one time

Keep the error for X seconds

Nice analysis. I would say the error should be reported while the condition that triggered it continuous. If the topics whose values cause it keep reporting the same values, keep sending the error. But it is just an idea.

marioney commented 4 years ago

Done in 87ad4e0 and rosin-project/rosgraph_monitor@674fc29

@chcorbato should we close this?

chcorbato commented 4 years ago

I think I remember seeing the error in the printout of the message received by mros1_reasoner with "ojbective" misspelled. A part from that, yes, you can close it.

chcorbato commented 4 years ago

This issue was completed, improvement tracked in https://github.com/tud-cor/mc_mros_reasoner/issues/94