Add mission failure rule for UAV

[tongtybj]

This PR is separated from commit in #65, and was also discussed in #62

• [ ] [jsk_mbzirc_tasks/include/jsk_mbzirc_tasks/mbzirc_gazebo_uav_collision_rule_plugin.h, jsk_mbzirc_tasks/src/mbzirc_gazebo_uav_collision_rule_plugin.cpp] Add feature: check whether hitting ground
  • Use rayshape and collisionbox to check the distance between and ground. If the distance is too short(e.g. <.01m), motors will shutdown.

[k-okada]

If the distance is too short(e.g. <.01m), motors will shutdown.

is this the definition of mission failure rule?

[tongtybj]

This is, but it is designed by myself. There is no specific description about the failure rule in regulation

[k-okada]

does this this plugin work with plugin for https://github.com/start-jsk/jsk_mbzirc/blob/master/jsk_mbzirc_common/src/mbzirc_gazebo_truck_plugin.cpp#L194 Are you assuming when robot complete the task1, the robots stops at 1.0? above the truck and it not satisfy "failure rune"?

[tongtybj]

I just check the distance(rayshape) between uav and ground(arena): https://github.com/tongtybj/jsk_mbzirc/blob/a1254ad5c06df37fa9edc79aa647892d63a46059/jsk_mbzirc_tasks/src/mbzirc_gazebo_uav_collision_rule_plugin.cpp#L112

So, this is not conflict with the mission complete rule in https://github.com/start-jsk/jsk_mbzirc/blob/master/jsk_mbzirc_common/src/mbzirc_gazebo_truck_plugin.cpp#L194

Beside, I have checked with cheat mode, there is no problem.

[k-okada]

so, so last question is why you put this within jsk_mbzirc_tasks, not jsk_mbzirc_common.

[tongtybj]

I was considering jsk_mbzirc_common is for the elements about the environment of the competition, like arena, truck, objects, but not uav or ugv. So I put this in jsk_mbzirc_tasks. Which should be better?

[k-okada]

ok, so put it in tasks, please fix commit to pass travis

[tongtybj]

@furushchev It seems like task2 test failed, and I can not figure out the reason:

[ROSTEST]-----------------------------------------------------------------------                                                       
[jsk_mbzirc_tasks.rosunit-remaining_time_test/test_hz][passed]                  
SUMMARY                                                                         
 * RESULT: FAIL                                                                 
 * TESTS: 1                                                                     
* ERRORS: 1                                                                    
 * FAILURES: 0    

[furushchev]

task2 test failed even after 10 times retry. restarted travis for further debugging.

[tongtybj]

finally passed.

@k-okada Please merge if it is ok

[k-okada]

Conflicting

[tongtybj]

@k-okada Fix conflict. Please merge