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##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