Describe resolver for charging failures

[tbohne]

• resolution for docking fail:
  • again drive to the point in front of the container (execute another return_to_base action)
  • if this fails again -- call human
  • successful resolution is easy to determine: if the charge level rises, fail counters can be reset as it was obviously successful
  • with my resolution I can solve one of the two sim failure cases, namely the one where the robot is not at the correct position
• resolution for undocking fail
  • move back and forth + try again
  • but only once, then call operator
• resolution for charging fail
  • same as above - back and forth + try again
  • but a bit different - we don't rely on mbf here to reset the fail_cnt, but again on the charge level - kind of a combination of the other two

[tbohne]

"open container" has to be part of the resolution -- after human operator was successful and "clear costmaps"

[tbohne]

https://github.com/tbohne/execution_monitoring/commit/3293e79d302a851477092191037ff8d4e15a53ef https://github.com/tbohne/execution_monitoring/commit/0fdebe8d79950b22a94734169eda78aa8b621943 https://github.com/tbohne/execution_monitoring/commit/2c589bc8a35478af0212e4b3b81bcf153d908c9c https://github.com/tbohne/execution_monitoring/commit/7467736f1dc6d14d0e1037b121d4b250ce277e45 https://github.com/tbohne/execution_monitoring/commit/e6ce10a56e9740596bb9a60c25239f28f85d2846 https://github.com/tbohne/execution_monitoring/commit/3869a6e96656daa420461985bb55adfc78481c0d