Project 6: Missing key in mission_orchestration node
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Assessment
- Difficulty
- 2/5
- Estimated time
- 1-3 hours
- Newbie friendliness
- 72/100
Research direction
Start in the mission_orchestration package at lines 105-110 of mission_orchestrator.cpp and review how the behavior tree blackboard is initialized. Run ros2 launch rj_training_bringup week_6.launch.xml, then execute the mission and verify that the missing-key and action-server errors no longer occur and the simulated bot starts moving.
Written by the indexing model from the issue text.
Description
name: Project 6: mission_orchestration node
about: About missing key in loading behavior tree in mission_orchestration node
title: "Missing key in mission_orchestration node"
Description
When trying to execute the mission in Project 6, there would be an error message saying that the action server wasn't ready. There would also be an error message when launching the project saying that the behavior tree wasn't loaded properly and that there was a missing key of "wait_for_service_timeout".
Fix
In lines 105-110 of mission_orchestrator.cpp from the mission_orchestration package in the STSL repository, I added the following line after googling the error messages shown in the screenshots:
blackboard_->set<std::chrono::milliseconds>("wait_for_service_timeout", std::chrono::milliseconds(5000));
(I arbitrarily chose 5 seconds for the length since I thought it would be more than long enough.)
After adding this line, the button works, and the bot starts moving.
Steps to Reproduce
- Run "ros2 launch rj_training_bringup week_6.launch.xml"
- Click the "execute mission" button.
Expected behavior
The button is supposed to execute the mission, and the simulated bot is supposed to start moving.
Screenshots
Error message after pressing the button to execute the mission:
- Dominant language
- C++
- Stars
- 174
- Forks
- 198
- PR merge metrics
- No merged PRs in 30d
Getting set up
This project ships no dev container, Dockerfile or contributing guide, so setting up is up to you: start from its README, and see our first-contribution guide for the general steps.
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
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