strands-project / strands_recovery_behaviours

Recovery behaviours for strands_navigation

strands_recovery_behaviours

Recovery behaviours for strands_navigation

strands_recovery_behaviours's Issues

[backtrack_behaviour] PTU is not reset to the correct position after the backtrack behaviour

After the backtrack behavior is executed, the PTU returns to the front facing state, but a small misalignment remains, causing the head xtion to be slightly tilted to one side. We were only really able to fix this by resetting the PTU (turning the controller for the PTU off and on again). This seems to screw with the docking and I suspect also with other components that use the head camera like the pan-tilt sweep.

I thought it might be that the 'ptu_goal.pan = 179' cannot be reached but is still set as actual position and that then turning back to '0' actually causes it to overshoot, however it is actually not turned back enough and remains at angle of '~5'. @bfalacerda @nilsbore any thoughts?

[backtrack_behaviour] Waiting for move_base action

When I run the latest navigation on Rosie, the backtrack behaviour does not start because because it's waiting for the move_base server at https://github.com/strands-project/strands_recovery_behaviours/blob/hydro-devel/backtrack_behaviour/scripts/backtrack_server.py#L32 . @bfalacerda Any ideas why?

we need localised voice output for AAF

@nilsbore could you have a look?

add magnetic strip monitor and "recovery" behaviour

I'm going to add a monitor for the magnetic strip using the /magnetic_barrier topic. Given that we are talking about an extreme risk situation, I think we should not even ask for help (maybe in the future ask for help but require some kind of authentication before getting into free run). For the marathon, a "specialist" should be warned so he can go there and get the robot out of harm's way. I was thinking of sending a help email, and/or tweeting a "help, cliffhanger!" tweet.

I think we have scripts for the tweets (where?). I don't know about the emails. Can someone point me to some code with this kind of functionality?

[walking_group_recovery] Sound is played after button is pressed and page design

I think the sound should be played when the first web page is shown and the page should have less text but maybe just one big button.

merge the help_manager, help_screen and help_speech packages

These 3 packages were created a long time ago because we wanted to make strands_navigation independent from strands_ui (the help_manager stayed in strands_navigation and the others were moved to strands_ui).

The nodes launched in each package communicate via services, but now that everything is back in the same repo, I'm thinking of just creating a new strands_human_help package that encapsulates the functionalities of thehelp_manager, help_screen and help_speech packages, without all the service calling.

[backtrack_behaviour] Running people over.

Just from testing it a few times I noticed that the behaviour is flawed if someone is too close to the camera, i.e. standing directly behind the robot, and that the robot just drives back regardless. This will run over kids and adults in public areas and could be a problem. One way of fixing this would be to let the robot say something and show a website to make people aware before driving back (while the PTU turns?!) and possibly don't attempt the behaviour that quickly because there will be people blocking the robot quite often.

[reobserve_recovery_behaviour] Add package

I have a package that needs merging, it's basically a recovery behaviour that reobserves stuff that's blocking the way and tells it to go away=).

[strands_monitored_nav_states] Add a parameter to wait to reset bumper

[walking_group_recovery] base on pygame_managed_player and fix install tragets

Like the waypoint_sounds in aaf_deployment this should be abased on the pygame_managed_player instead of pygame directly. Also, there is an executable in the src directory which is is not installed correctly.

Both of this doesn't prevent it from working but should be fixed for the final version of the walking group behaviour. @nilsbore can you please take care of that?

Help tweet is over character limit

Another lack of testing revealed!

[INFO] [WallTime: 1416831874.846528] /strands_tweets: Tweeting I've been having some issue going around for quite some time now. I'm sure I'm pretty stuck somewhere. What does it │························
look like?                                                                                                                                                                         │························[INFO] [WallTime: 1416831874.847257] Tweeting I've been having some issue going around for quite some time now. I'm sure I'm pretty stuck somewhere. What does it look like? ... (1│························
26)                                                                                                                                                                                │························
Twitter API returned a 403 (Forbidden), Status is over 140 characters. 

release

This is an unreleased part of the marathon system, so it needs to be released asap.

make hydro-devel default branch?

I added a hydro-devel branch but I don't have permissions to make it the default. I'm also not sure if we're supposed to continue using that naming scheme with the release