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trains_interface_htn's Introduction

##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 People

Contributors

cjds avatar

Watchers

Halit Bener Suay avatar James Cloos avatar Cassie Kent avatar Siddhartha Banerjee avatar avatar avatar avatar Anahita Mohseni Kabir avatar Robot Autonomy and Interactive Learning avatar avatar Weiyu Liu avatar Aaron St. Clair avatar avatar

trains_interface_htn's Issues

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

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