ipa320 / airbus_coop Goto Github PK

I have observed this behaviour especially while running moveit related states. Whenever the arm is moving, the previous state is still highlighted. Only after the completion of movement, the current state is highlighted. Is this related to threading somehow? Or it is an expected behaviour?

Thanks

I have checked out the latest ssm_graphviz.py from the ipa-led repo. But I still get the error when one of the outcomes is not connected:

[INFO] [WallTime: 1507288801.082653] [5171.791000] SSM is now ready !
Traceback (most recent call last):
  File "/home/administrator/airbus_ws/src/airbus_ssm_core/nodes/ssm_node.py", line 28, in <module>
    if(SSM._init_SSM()):
  File "/home/administrator/airbus_ws/src/airbus_ssm_core/src/airbus_ssm_core/ssm_main.py", line 65, in _init_SSM
    result = self.readSCXML()
  File "/home/administrator/airbus_ws/src/airbus_ssm_core/src/airbus_ssm_core/ssm_main.py", line 108, in readSCXML
    self._graphviz.start()
  File "/home/administrator/airbus_ws/src/airbus_ssm_core/src/airbus_ssm_core/ssm_graphviz.py", line 101, in start
    self.construct_subgraph(self._state_machine, 'ROOT', self._graph_dot)
  File "/home/administrator/airbus_ws/src/airbus_ssm_core/src/airbus_ssm_core/ssm_graphviz.py", line 140, in construct_subgraph
    self.create_edges(state, name, graph)
  File "/home/administrator/airbus_ws/src/airbus_ssm_core/src/airbus_ssm_core/ssm_graphviz.py", line 178, in create_edges
    if(('"parrallel_'+name+'_'+transition[2]+'"') in self._parallel_ending):
TypeError: cannot concatenate 'str' and 'NoneType' objects
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
  what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument
[ssm_node-1] process has died [pid 26248, exit code -6, cmd /home/administrator/airbus_ws/src/airbus_ssm_core/nodes/ssm_node.py __name:=ssm_node __log:=/home/administrator/.ros/log/9b84c97a-aa7b-11e7-8989-9c5c8e021831/ssm_node-1.log].
log file: /home/administrator/.ros/log/9b84c97a-aa7b-11e7-8989-9c5c8e021831/ssm_node-1*.log

I am using ROS Kinetic on Ubuntu 16.04 with your kinetic branch

I am trying to launch the SSM viewer as a plugin:
Registered the plugin in default_plugin_register.xml

<plugin label="SSM" package="airbus_ssm_plugin" />

and added the label in default.conf

<plugin name="Rviz"/>
<plugin name="Rqt"/>
<plugin name="SSM"/>

But once I launch roslaunch airbus_cobot_gui default.launch, it just hangs, and doesn't proceed.
Once I remove the RViz plugin from the default.conf, everything works fine again. What could be the issue here?

We should remove nearly all the plugins and dashboards, because they are in majority hardware specific. We should try to merge pyqt_agi_extend into the cobot_gui core (i still have to check a bit about that) and probably get the plugin / dashboard template creator into that.

Now this tool looks for the path of your workspace and generate documentation for all the packages of your workspace and save this documentation directly on each package path, in case of a release your workspace will be /opt/ros/... and the users shouldn't modify or create files inside this path.

I suggest call agi_docgen with 2 arguments, the first one the name of the package to be documented and second the output path where should be generated the documentation.

Should reintegrate the new version of smach viewer (Qt5 compatible)

<arg name="scxml_file" default="default"/>

This will look for the file in :
${ssm_core}/resources/*.scxml