gt-rail / trains_interface_htn

rainsThis is a Python interface that will allow us to create and maintain the state of the HTN in TRAINS

##How to Run rosrun pydisco heres_how_lunchpacking_htn.py false

The second parameter false is for whether or not to turn suggestions on. It is by default true

###Background Services to run with tablebot

Run the Tablebot

roslaunch tablebot_bringup tablebot_bringup.launch

Run the Web Services and MJpegServer

 roslaunch tablebot_heres_how_action_executor heres_how_web_services.launch 

Execute Actions

rosrun tablebot_heres_how_action_executor tablebot_heres_how_action_executor
rosrun tablebot_action_queue tablebot_action_queue

Finally, run the HTN Server

rosrun pydisco heres_how_lunchpacking_htn.py

##Problems and fixes

1. If the user is stuck in the queue, look at the user ID for that user and run

   rosservice call /rail_user_queue_manager/update_queue [user-id] false 0 30

2. If the system has an error, that is fine but to reactivate the Interface, you have to run

   rostopic pub /web_interface/execute_action_feedback std_msgs/Bool true

trains_interface_htn's Issues

Add the rest of the objects in case of empty list

Error when storing as first in new task

[ERROR] [WallTime: 1464734003.545254] bad callback: <bound method WebInterface.execute_task of <main.WebInterface object at 0x7f35e2288ed0>>
Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/topics.py", line 720, in _invoke_callback
cb(msg)
File "/home/csaldanha/projects/ros/src/TrainsHTNPython/heres_how_lunchpacking_htn.py", line 158, in execute_task
success,isGroupable,errorInfo=self.htn.executeTask(taskName, inputs);
File "/home/csaldanha/projects/ros/src/TrainsHTNPython/utils/HTN.py", line 243, in executeTask
success,reason=action.execute(final_input,self.world)
File "/home/csaldanha/projects/ros/src/TrainsHTNPython/utils/Action.py", line 230, in execute
if not world.holding.name == inputs[0].name:
AttributeError: 'NoneType' object has no attribute 'name'

Error with Pack Lunch 1 []

[ERROR] [WallTime: 1464575845.871301] bad callback: <bound method WebInterface.execute_task of <main.WebInterface object at 0x7fcb0fe390d0>>
Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/topics.py", line 720, in _invoke_callback
cb(msg)
File "/home/csaldanha/projects/ros/src/TrainsHTNPython/heres_how_lunchpacking_htn.py", line 157, in execute_task
success,isGroupable,errorInfo=self.htn.executeTask(taskName, inputs);
File "/home/csaldanha/projects/ros/src/TrainsHTNPython/utils/HTN.py", line 238, in executeTask
success,reason=action.execute(final_input,self.world)
File "/home/csaldanha/projects/ros/src/TrainsHTNPython/utils/Action.py", line 164, in execute
return True,reason
UnboundLocalError: local variable 'reason' referenced before assignment