Error in node state when switching modes

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#99 opened on Dec 20, 2022 3 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: Bug
Clarity: Needs clarification
Activity status: Stale
Tech stack: cpp
Domain: robotics

Research direction

The report provides no source file or test; begin with the ALERT and COMPROMISED YAML and the listed node-state screenshots, then reproduce the alert-to-compromised transition in the described ROS 2 setup. Trace why pc2_1_to_2, scan_1_to_2, and twist_2_to_1 remain active, and verify that every node reaches the state declared for COMPROMISED.

Written by the indexing model from the issue text.

Description

Hello!

I've been working with system_modes for a few days and I'm having an error when changing my system mode.

I have several modes, which are default, alert, compromised and halt, and in this particular example when I change the mode from alert to compromised there are nodes that do not change their status from active to inactive. I leave you images of the monitor so that you can see the result together with the yaml configuration of both modes.

ALERT:
        image_1_to_2: inactive
        imu_1_to_2: active
        odom_1_to_2: active
        pc2_1_to_2: active
        scan_1_to_2: active
        tf_1_to_2: active
        tf_static_1_to_2: active
        twist_2_to_1: active
COMPROMISED:
        image_1_to_2: inactive
        imu_1_to_2: active
        odom_1_to_2: active
        pc2_1_to_2: inactive
        scan_1_to_2: inactive
        tf_1_to_2: active
        tf_static_1_to_2: active
        twist_2_to_1: inactive

System in alert mode:
Screenshot from 2022-12-20 11-08-47

System in compromised mode:
Screenshot from 2022-12-20 11-08-36

I also show you how I have configured the modes of some of the nodes, although I am not using that parameter

pc2_1_to_2:
  ros__parameters:
    type: node
    modes:
      __DEFAULT__:
        ros__parameters:
          use_sim_time: false
      
scan_1_to_2:
  ros__parameters:
    type: node
    modes:
      __DEFAULT__:
        ros__parameters:
          use_sim_time: false

I do not have any type of rule configured, although I suppose that for this simple case of changing node states it would not be necessary.

Any idea what is happening?

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

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