Develop the connection Navigation ➡️ GRACE about assistive-rehab

[mfussi66]

Today, me and @vvasco started off the task. We successfully implemented the logic in the eventCollector module regarding the collection of obstacleDetector info. The eventCollector is tasked to populate a JSON file with info regarding errors from the speech and navigation pipeline.

So far, an error event is written in the JSON file every time the obstacleDetector communicates the presence of an obstacle inside a radius. The radius is configurable, so we can tune it to detect only potential contact against the environment.
We just need to make sure that the eventCollector does not flood the file with lines. This can be solved, for example, by making the obstacleDetector send only the obstacle found/removed events, instead of a stream of messages.

I think we just need to clarify if there are other faulty events regarding navigation that can be useful to GRACE.

[mfussi66]

Today we checked the behaviour of the eventCollector in presence of both obstacleDetector warnings and googleSpeech warnings on the robot.
The tests went well, there is just an issue regarding the way the jsoncpp library is used, that necessitated a suboptimal workaround to make everything work as expected. It might need a little bit of study to make it work in a flexible way as desired.