[FEA] Allow all inactive in DEFAULT MODE.

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#97 opened on Nov 12, 2022 2 comments 0 reactions 0 assignees View on GitHub

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Assessment

Difficulty: 4/5
Estimated time: 3-5 days
Newbie friendliness: 35/100

Issue type: Feature
Clarity: Mostly clear
Activity status: Stale
Tech stack: cpp
Domain: robotics

Research direction

Start with the ROS 2 service entry point /actuation/change_state and reproduce the configure request using the YAML system-modes example. Trace how the DEFAULT mode assignments are applied, then verify that configuring /actuation leaves drive_base and both manipulators inactive.

Written by the indexing model from the issue text.

Description

SHM file

# system modes example
---

actuation:
  ros__parameters:
    type: system
    parts:
      drive_base
      left/manipulator
      right/manipulator
    modes:
      __DEFAULT__:
        drive_base: inactive.__DEFAULT__
        left/manipulator: inactive.__DEFAULT__
        right/manipulator: inactive.__DEFAULT__
      LEFT:
        # drive_base: active.__DEFAULT__
        left/manipulator: active.__DEFAULT__
        # right/manipulsator: inactive.__DEFAULT__
      RIGHT:
        # drive_base: active.__DEFAULT__
        # left/manipulator: inactive.__DEFAULT__
        right/manipulator: active.__DEFAULT__


left/manipulator:
  ros__parameters:
    type: node
    modes:
      __DEFAULT__:
        ros__parameters:
          max_torque: 0.1

drive_base:
  ros__parameters:
    type: node
    modes:
      __DEFAULT__:
        ros__parameters:
          max_speed: 0.1
          controller: PID

right/manipulator:
  ros__parameters:
    type: node
    modes:
      __DEFAULT__:
        ros__parameters:
          max_torque: 0.11

step to reproduce

zs@zs-vm-2204:~/zs_ws/ga_ros$ time ros2 service call /actuation/change_state lifecycle_msgs/ChangeState "{transition: {id: 1, label: configure}}"
waiting for service to become available...
requester: making request: lifecycle_msgs.srv.ChangeState_Request(transition=lifecycle_msgs.msg.Transition(id=1, label='configure'))

response:
lifecycle_msgs.srv.ChangeState_Response(success=True)


real    0m2.185s
user    0m0.459s
sys     0m0.086s

expected behavior

all nodes would be in DEFAULT mode, which is all inactivated

actual behavior

Dominant language: C++
Stars: 45
Forks: 13
PR merge metrics: No merged PRs in 30d

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