inorbit-ai / ros_amr_interop Goto Github PK

It points to CONTRIBUTING.md but the file is called CONTRIBUTING.

Release the massrobotics_amr_sender package for ROS Noetic (noetic-devel). Here are the steps to do it with Bloom.

Take into account that the ROS1 to ROS2 migration guide recommends using different release repositories.

Current implementation only validates message schema on message object creation (see _validate_schema method on messages modules). This assumes that the server implementation does that job. However, there are two downsides on this approach

1. The client doesn't know about the situation
2. The whole message is lost even though one single message attribute causes the schema validation to fail.

Hello, I've been using the VDA5050 Controller with openTCS' VDA5050 Master Controller found here
As I've been doing so I've noticed that there are some inconsistencies with the VDA5050 version that is being targeted.
I've seen that in OrderState.msg that vda5050_msgs/Info[] informations has the 's' on the end.
And the def get_vda5050_mqtt_topic( manufacturer, serial_number, topic, interface_name="uagv", major_version="v1" ): would suggest that V1.1 is the target of this software.
However you also have things like CurrentAction.msg's ActionState enums including PAUSED that only came in V2.0:

# Enums for actionStatus
string WAITING="WAITING"
string INITIALIZING="INITIALIZING"
string RUNNING="RUNNING"
string PAUSED="PAUSED"
string FINISHED="FINISHED"
string FAILED="FAILED"

And the constant DEFAULT_PROTOCOL_VERSION = "2.0.0" suggests that 2.0 is default.

What is the target version of this software? And can this be detailed in the documentation and the schema verified with the standard.

Thanks.

This would make it easier to get going with this package.

Actually when I looked vda5050 documentation it is really clear, All field names are in camelCase
Old version of the repo it was camelCase but then with updates why it changed to snakeCase?

Also at the error reference implementation at examples are camelCase

This involves re-registering callbacks if needed and sending a new identity report to avoid restarting the node.

Is there any plan to enable navigation through VDA5050 nodes & edges?
Perhaps the NavigateToNode action could be updated to include a list of Nodes and Edges that are released and without blocking actions? The adaptor could then do what it wants with this list, I don't think much should change regarding the feedback/states but the adaptor will need to report when it has travelled through nodes.

I think this would allow for a much smoother navigation experience as it will mean the agent would not have to stop/start at each node as it currently does. This could also enable interesting behaviours from the Master Controller when you take horizons etc into account.

Below is section 6.10.2 from the VDA5050 2.0.0 Standard which details that the vehicle should be moving all the time when there are no blocking edge or node actions.

The new noetic-devel branch doesn't have any test for the code. We could start by migrating the existing tests in foxy-devel to ROS1 and then adding extra tests if needed.

Add operational states as in this PR MassRobotics-AMR/AMR_Interop_Standard#6

Do the same as with Status messages but for Identity messages (using a different time interval)

if there are a sequence of nodes in an order: node_1, node_2, node_3(with HARD action), node_4, node_5(with HARD action);

on the loop of "_on_active_order", each time it will trigger "_process_next_edge" to send a new edge+node to ROS till to the end (node_5).

I guess "_process_next_edge" should be blocked if one node/edge get HARD action on it, after all the HARD actions done, then start to send nodes again.

I think this needs to be node_states (no s on node)

Also

I think should take from self._current_order not order as they later have the order again appended to form the new order thusly:

I may be able to contribute a PR if I can get some advice on how to run the tests, specifically just those in https://github.com/inorbit-ai/ros_amr_interop/blob/humble-devel/vda5050_connector/test/test_vda5050_controller.py, running colcon test just runs the linters?