bt_navigator.error_code_name_prefixes = [assisted_teleop, backup, compute_path, .bt_navigator.error_code_names.nav2_bringup/ (+13/−3).Full analysis → Summary: automatic analysis
None.
| Name | Value | Type | File |
|---|---|---|---|
bt_navigator.error_code_name_prefixes | [assisted_teleop, backup, compute_path, dock_robot, drive_on_heading, follow_pat | list | nav2_bringup/params/nav2_params.yaml |
| Name | Last value | Note |
|---|---|---|
bt_navigator.error_code_names | [compute_path_error_code, follow_path_error_code] | removed from nav2_bringup/params/nav2_params.yaml |
No post: no meaningful change.
| Module | Added | Modified | Removed | Lines + | Lines − |
|---|---|---|---|---|---|
nav2_bringup | 0 | 1 | 0 | +13 | −3 |
| Path | Lines | Note | |
|---|---|---|---|
| M | nav2_bringup/params/nav2_params.yaml | +13/−3 |
Populate error_msg for all action result messages (#4341) (#4460)
* Populate error_msg in action result messages (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* FollowWaypoints - Add usage of error_code and error_msg (#4341)
Introduces error codes:-
- NO_WAYPOINTS_GIVEN
- STOP_ON_MISSED_WAYPOINT
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* nav2_simple_commander: use error_code and error_msg (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* Create and populate BT::OutputPort(s) for error_msg (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* Add error_msg handling to nav2_bt_navigators (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* nav2_simple_command track LastActionError (#4341)
Only actions provide error_code and error_msg in
their result msg.
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* Restore output format of planner server message (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* Fix opennav_docking error_msg/code usage (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* Fix error_msg type -> BT::OutputPort<std::string> (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* report index of failed initializeGoalPoses (#4341)
Add the index of the pose that cannot be transformed
in NavigateThroughPosesNavigator::initializeGoalPoses to
the error_msg
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* Add error_msg to (un)dock_robot bt (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* fix dock/undock use of error_msg (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* Improve comment to populate error_msg if goal not accepted (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* change robot_navigator api to (get|set|clear)TaskError() (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* remove exceptions from navigator onLoop (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* change error code to GOAL_TRANSFORMATION_ERROR (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* check getCurrentPose in initialiseGoalPoses (#4341)
This mirrors the check done in NavigateToPose::initializeGoalPose
checking that we can get a current pose in order to not accept
the goal request.
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* change error_code_names_ to error_code_name_prefixes_ (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* add error_msg port to default behavior xml files (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* Fix 'basic_string::_M_construct null not valid' exception(#4341)
This was tough to spot.
The nav2_system_tests waypoint follower provided a reproducable test
Found out how to run just the waypoint_follower test
colcon test --packages-select nav2_system_tests --ctest-args -N --event-handler console_direct+ | grep waypoint_follower
changed src/navigation2/nav2_bringup/launch/navigation_launch.py
to start nav2_bt_navigator Node with
+ prefix=['gnome-terminal -- gdb -ex run --args'],
+ respawn=False,
Trying to use gdb to catch where the exception was thrown is
too slow and the test gives up on itself.
I found the relevant throw std::logic_error on
my system by writing tiny program and breaking on std::logic_error
int main() {
const char *a = nullptr;
try {
std::string b(a);
} catch (const std::logic_error &ex) {
std::cout << "logic_error:" << ex.what() << std::endl;
} catch (const std::exception &ex) {
std::cout << "some other type:" << ex.what() << std::endl;
}
}
Turns out it get thrown here on my system
/usr/include/c++/11/bits/basic_string.tcc:212
Created ~/.gdbinit
set breakpoint pending on
break /usr/include/c++/11/bits/basic_string.tcc:212
This specific breakpoint on a line works fast enough
for the integration test to throw the
'basic_string::_M_construct null not valid'
and the silly initialisation mistake to be found.
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* fix error_code_name_prefixes: in nav2_system_param.yml (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* Add error_msg handling to builtin nav2_behaviors plugins (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* simple_action_server improve "Aborting handle" log (#4341)
Use SFINAE to log get_error_details_if_availble() in ActionT::Result
Ideally all Action messages would have error_code and error_msg
fields in their Result. BUT the tests use standard messages that
do not and will not. i.e. test_msgs/action/Fibonacci.action
Some Action messages only have error_code and not error_msg
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* Add vim temporary files to .gitignore
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* Fix include what you use (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* Fix cpplint and uncrustify (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* nav2_waypoint_follower do is_premppt_requested() before is_cancel_requested() (4341)(4602)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* fix behavior tree xml Backup backup_code_error_msg (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* Fix internal error tracking of navigators (#4341)
Key point is only use the internal_error_(code|msg)_
if the action result error_code is 0.
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* fix halt() in ComputePathToPose ComputePathThroughPoses (#4341)
Clear output path for ComputePathThroughPoses similar to
ComputePathToPose
Explicitly note NOT to clear error_code_id and error_msg
behavior tree output ports. Otherwise we cannot read them
when the navigator reports errors.
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* fix NavigateToPose onLoop current_path blackboard existance logic (#4341)
Make it consistent with NavigateThroughPoses.
This was introduced when changing logic to remove
internal exception.
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* nav2_msgs MissedWaypoint interface change, add error_msg (#4341)
Allow of reason for missed waypoint as error_msg.
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* Fix waypoint_follower error_msg handling (#4341)
Include error_msg in reason for missed waypoint
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* Fix cpplint uncrustify (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* Add tool to help check for error_code and error_msg in behavior trees (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* controller_server: Remove redundant logging (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* timed_behaviour: pass through on_run_result.error_msg (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* nav2_waypoint_follower - revert logic swap experiment (#4341)
It was a red herring in search for error_msg clearing bug on abort
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* nav2_waypoint_follower: clear error_msg when clearing error_code (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* Remove tool to check behaviour tree error_msg compliance (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* nav2_simple_commander: improve goal request rejection error reporting (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* nav2_system_tests: ensure error_msg not empty (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* nav2_system_tests: behaviour_tree error_code, error_msg checks (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* nav2_system_tests: behaviour_tree error_code, error_msg checks (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* doc: fix hint on how to run bt_navigator tests with ctest.
Use -R to invoke the regular expresion.
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* nav2_system_tests: log error_code and error_msg. (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* lint: remove tab (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* add result->error_msg for new CONTROLLER_TIMED_OUT (#4341)
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* Add error codes NONE and UNKNOWN to Wait.action (#4341)
This allows setting a default failure error_code and
message in nav2_system_tests behavior_tree dummy_action_server
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
* move internal error tracking into bt_action_server.hpp and test (#4341)
Signed-off-by: Mike Wake <macwake@gmail.com>
* uncrustify and flake8 (#4341)
Signed-off-by: Mike Wake <macwake@gmail.com>
* nav2_system_tests behavior_tree result handling improvement (#4341)
NOTE: This stuff does not really test the error_msg/error_code
handling as its all dummy servers.
Signed-off-by: Mike Wake <macwake@gmail.com>
* Add ProgressCheckerSelector and GoalCheckerSelector to navigate_through_poses_w_replanning_and_recovery.xml (#4341)
To facilitate error_msg system tests allow progress and goal checkers
to be changed via the behaviour tree mechanism.
Signed-off-by: Mike Wake <macwake@gmail.com>
* Add nav2_system_tests for controller_server/behaviour tree error_msg (#4341)
Signed-off-by: Mike Wake <macwake@gmail.com>
* Improve README hint on how to run error_msg tests (#4341)
Signed-off-by: Mike Wake <macwake@gmail.com>
* fix PostStampedArray usage in nav_through_poses_tester_error_msg (#4341)
Signed-off-by: Mike Wake <macwake@gmail.com>
* nav_through_poses_tester_error_msg - towards clean pyright (#4341)
Signed-off-by: Mike Wake <macwake@gmail.com>
* SmoothPath fix error_(code_id|msg) output ports nav2_tree_nodes.xml (#4341)
Signed-off-by: Mike Wake <macwake@gmail.com>
* Wait action add error_(code_id|msg) output ports (#4341)
Signed-off-by: Mike Wake <macwake@gmail.com>
* Add error_code_id and error_msg ports to example behavior_tree xml (#4341)
Signed-off-by: Mike Wake <macwake@gmail.com>
* Add more default error_code_name_prefixes (#4341)
Signed-off-by: Mike Wake <macwake@gmail.com>
* Add error_(code_id|msg) to opennav_docking_bt example (#4341)
Signed-off-by: Mike Wake <macwake@gmail.com>
* error_msg review fixes (#4341)
Signed-off-by: Mike Wake <macwake@gmail.com>
* Adjust Navigator error code ranges (#4341)
Signed-off-by: Mike Wake <macwake@gmail.com>
* Fix Navigate(ToPose|ThroughPoses)Navigator::goalCompleted warning log (#4341)
Signed-off-by: Mike Wake <macwake@gmail.com>
---------
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
Signed-off-by: Mike Wake <macwake@gmail.com>
Co-authored-by: Mike Wake <macwake@gmail.com>