[previous_position_service] to strands_navigation?

[marc-hanheide]

This appears to be fitting strands_navigation. Is it even worth this being a separate package or should it be just one script in one of the strands_navigation packages?

Currently, this is the only dependency that strands_navigation still has with strands_utils, hence it would be good to move it soon.

[nilsbore]

Yes, I think this should be moved to the backtrack_behaviour package that's supposed to be in the recovery behaviour repo (or similar) of strands_navigation. @BFALacerda How should we organize the recovery behaviours?

[nilsbore]

Also, republish_pointcloud_service should be moved there.

[bfalacerda]

my local organization is a metapackage called strands_recovery_behaviours where I have:

1. the (still being developed) smach recovery and monitor behaviours to be added to the (scitos-independent) monitored_navigation state machine that will remain in strands_navigation in one package

2. Backtrack recovery package that you implemented in https://github.com/strands-project/strands_navigation/pull/64 in another. I can also put this there.

   If we go with this solution, we need to create a new repo called strands_recovery_behaviours, which will be dependent on a lot of scitos specific stuff, freeing strands_navigation from all those dependencies. @marc-hanheide ?

[marc-hanheide]

What dependencies are we talking about, @BFALacerda ? It sounds like a reasonable plan, just want to make sure.

[bfalacerda]

E.g. by copy/paste of a couple of recovery behaviour python scripts:

from scitos_msgs.msg import MotorStatus
from scitos_msgs.srv import ResetMotorStop
from scitos_msgs.srv import EnableMotors

The smach implementations of our scitos-specific recovery behaviours (recover_bumper, stuck on carpet) go to the strands_recovery_behaviours repo, along with the republish_pointcloud_service and the previous_position_service.

[hawesie]

:+1:

[marc-hanheide]

:+1:

[bfalacerda]

@marc-hanheide @hawesie can you create a strands_recovery_behaviours repo for me to put this in?

[marc-hanheide]

done: https://github.com/strands-project/strands_recovery_behaviours

[bfalacerda]

thanks

[bfalacerda]

this was merged into the backtrack_behaviour package by @nilsbore , and the rest of the discussion is also pretty much finished