Add ros_bt_py technology info + examples

[Oberacda]

No description provided.

[sea-bass]

I could get this all running! Took me a while to figure out how to properly set a String constant and connect it, but it worked.

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While things were building, I read through and found a few typos. Plus, maybe one thing to clarify in the code.

Also, you may need to run pre-commit still, as there are formatting errors.

[Oberacda]

@sea-bass As you are the only one I know that tried ros_bt_py, do you think the README is sufficient for people who have not worked with it before? Should I put the examples from the presentation in the readme as well?

[Oberacda]

Otherwise, this is finished on my end.

[sea-bass]

The examples all ran for me -- just a few things.

README / Instructions

I think we need some instructions on how to load trees from the ros_bt_py_pyrobosim package. It took me a while to figure out.

Also, generally the UX of this is interesting. It seems like if I select the wrong tree by accident by single-clicking, I have to hit "Back"? Also I get no visual confirmation on which tree I have actually selected.

Problems

Problem 1

Worked well!

Problem 2

Worked well. Suggest renaming PlanToDump (and similar) to say Dumpster instead of Dump, as for English speakers this could... be funny naming.

Problem 3

Worked well. Question, is there a way to look inside the subtrees here while the trees are running? I couldn't figure out how to expand them.

Problem 4

I think you're navigating the robot to the kitchen room instead of one of the actual locations (fridge/pantry), so my robot got stuck trying to place the bread0 object over and over again because it was not in the right location. Please take a look at that.

I tried again and it seems it ran fine, but only partially. The bread and butter was brought to the table, but nothing was done with the waste/dumpster part of the objective. Maybe that is not implemented yet in this solution?

[sea-bass]

I'm also still running somewhat frequently into the PyRoboSim display sync issue. I will take a look to see if I can improve this...

EDIT: This small change seems to help, will add it here sea-bass/pyrobosim#280

[sea-bass]

Problem 4

I think you're navigating the robot to the kitchen room instead of one of the actual locations (fridge/pantry), so my robot got stuck trying to place the bread0 object over and over again because it was not in the right location. Please take a look at that.

I think this specifically happens when the robot is holding the bread0 or butter0 object and, on the way to place it on the table, it has to go to the charger due to low battery. There may be a subtle behavior bug there.

[Oberacda]

Problem 4

I think you're navigating the robot to the kitchen room instead of one of the actual locations (fridge/pantry), so my robot got stuck trying to place the bread0 object over and over again because it was not in the right location. Please take a look at that.

I think this specifically happens when the robot is holding the bread0 or butter0 object and, on the way to place it on the table, it has to go to the charger due to low battery. There may be a subtle behavior bug there.

I briefly looked into this just now, and I think it is an issue with the interrupt during the execution of the path following. As far as I can see it flags the interrupted movement as successful and just continues with the placing after returning from the charger.

I will follow up on this tomorrow morning.

[sea-bass]

I briefly looked into this just now, and I think it is an issue with the interrupt during the execution of the path following. As far as I can see it flags the interrupted movement as successful and just continues with the placing after returning from the charger.

I will follow up on this tomorrow morning.

Are you officially canceling the original ROS action goal, or just sending a new one? If it's the second, then I could see how this happens.

[Oberacda]

The examples all ran for me -- just a few things.

README / Instructions

I think we need some instructions on how to load trees from the ros_bt_py_pyrobosim package. It took me a while to figure out.

I added a section about loading the example trees. Hopefully, this is more clear now.

Also, generally the UX of this is interesting. It seems like if I select the wrong tree by accident by single-clicking, I have to hit "Back"? Also I get no visual confirmation on which tree I have actually selected.

I am aware that the UX needs some polishing. I will try to find some time to look into it, but I am unsure if that will happen before ROSCon. I think we should merge this without the UX improvements sadly.

Problems

Problem 1

Worked well!

Problem 2

Worked well. Suggest renaming PlanToDump (and similar) to say Dumpster instead of Dump, as for English speakers this could... be funny naming.

I have renamed the nodes.

Problem 3

Worked well. Question, is there a way to look inside the subtrees here while the trees are running? I couldn't figure out how to expand them.

I added a section about this to the README. You need to check the PublishSubtree box in the topbar and then you can inspect them via the Tree Drop Down above the editor.

Problem 4

I think you're navigating the robot to the kitchen room instead of one of the actual locations (fridge/pantry), so my robot got stuck trying to place the bread0 object over and over again because it was not in the right location. Please take a look at that.

I tried again and it seems it ran fine, but only partially. The bread and butter was brought to the table, but nothing was done with the waste/dumpster part of the objective. Maybe that is not implemented yet in this solution?

I indeed forgot to implement the dumpster part in the previous version. I added it alongside a fix for the issues regarding the recharging being triggered while holding an object.

[sea-bass]

Thanks! Let's merge it.