mirror of
https://github.com/modelec/Modelec-ROS2.git
synced 2026-05-09 04:45:37 +02:00
Waypoint pas recu #5
Labels
No labels
bug
bug
enhancement
modelec-com
modelec-gui
modelec-strat
No milestone
No project
No assignees
1 participant
Notifications
Due date
No due date set.
Dependencies
No dependencies set.
Reference
modelec/Modelec-ROS2#5
Loading…
Add table
Add a link
Reference in a new issue
No description provided.
Delete branch "%!s()"
Deleting a branch is permanent. Although the deleted branch may continue to exist for a short time before it actually gets removed, it CANNOT be undone in most cases. Continue?
Originally created by @Ackimixs on GitHub.
Originally assigned to: @Ackimixs on GitHub.
Describe the bug
A certain moment le pcb odo ne prend pas en compte certain waypoint (ne vas pas au point)
Pourtant je recois bien un OK;WAYPOINT;X donc il lit bien le message et recoit bien le message et est ok avec le waypoint
Package
Actual behavior
Ne vas pas au point demandé
Expected behavior
Va au point demandé
Additional context
description du bug
@Ackimixs commented on GitHub:
pb côté pcb ?
Mais pourquoi aucun pb au part avant mais maintenant pb
@Ackimixs commented on GitHub:
1765997000.5833120 [strat_fsm-4] [INFO] [1765997000.582908005] [strat_fsm]: Transition 5 -> 2: Free done
1765997000.6674139 [pcb_odo_interface-2] [INFO] [1765997000.666744270] [pcb_odo_interface]: Received from PCB: SET;POS;2758.4539;956.6472;-0.8321
1765997000.6835930 [strat_fsm-4] [INFO] [1765997000.682994883] [strat_fsm]: Transition 2 -> 3: Selecting a game action
1765997000.7669108 [pcb_odo_interface-2] [INFO] [1765997000.766562612] [pcb_odo_interface]: Received from PCB: SET;POS;2758.4539;956.6472;-0.8321
1765997000.7832744 [strat_fsm-4] [INFO] [1765997000.782933966] [strat_fsm]: Transition 3 -> 4: Selected game action
1765997000.8669968 [pcb_odo_interface-2] [INFO] [1765997000.866591621] [pcb_odo_interface]: Received from PCB: SET;POS;2758.4539;956.6472;-0.8321
1765997000.8916962 [strat_fsm-4] [INFO] [1765997000.891327392] [strat_fsm]: Start: (2755, 960), Goal: (2535, 400)
1765997000.9131787 [strat_fsm-4] [INFO] [1765997000.912753407] [strat_fsm]: Rotating first before going to target
1765997000.9141352 [pcb_odo_interface-2] [INFO] [1765997000.913027758] [pcb_odo_interface]: Sending to PCB: SET;WAYPOINT;0;1;2758;956;-1.952233
1765997000.9148171 [pcb_odo_interface-2] [INFO] [1765997000.914543479] [pcb_odo_interface]: Received from PCB: OK;WAYPOINT
1765997000.9152002 [pcb_odo_interface-2] [INFO] [1765997000.914626794] [pcb_odo_interface]: Waypoint added successfully.
1765997000.9670284 [pcb_odo_interface-2] [INFO] [1765997000.966584925] [pcb_odo_interface]: Received from PCB: SET;POS;2758.4539;956.6472;-0.8356
1765997001.0669117 [pcb_odo_interface-2] [INFO] [1765997001.066575545] [pcb_odo_interface]: Received from PCB: SET;POS;2758.1201;957.0312;-0.9402
1765997001.1660180 [pcb_odo_interface-2] [INFO] [1765997001.165599406] [pcb_odo_interface]: Received from PCB: SET;POS;2758.2083;956.8615;-1.1212
1765997001.2660058 [pcb_odo_interface-2] [INFO] [1765997001.265601582] [pcb_odo_interface]: Received from PCB: SET;POS;2758.3291;956.5677;-1.3120
1765997001.3662517 [pcb_odo_interface-2] [INFO] [1765997001.365596183] [pcb_odo_interface]: Received from PCB: SET;POS;2758.3865;956.2553;-1.5020
1765997001.4661856 [pcb_odo_interface-2] [INFO] [1765997001.465624302] [pcb_odo_interface]: Received from PCB: SET;POS;2758.3865;955.8743;-1.6915
1765997001.5660400 [pcb_odo_interface-2] [INFO] [1765997001.565621015] [pcb_odo_interface]: Received from PCB: SET;POS;2758.3669;955.7482;-1.8738
1765997001.6144166 [pcb_odo_interface-2] [INFO] [1765997001.613750539] [pcb_odo_interface]: Received from PCB: SET;WAYPOINT;0
1765997001.6151934 [pcb_odo_interface-2] [INFO] [1765997001.613908465] [pcb_odo_interface]: Waypoint reached: ID 0
1765997001.6175709 [pcb_odo_interface-2] [INFO] [1765997001.615980426] [pcb_odo_interface]: Sending to PCB: SET;WAYPOINT;0;1;2535;400;6.283093
1765997001.6188757 [pcb_odo_interface-2] [INFO] [1765997001.617631295] [pcb_odo_interface]: Received from PCB: OK;WAYPOINT
1765997001.6193979 [pcb_odo_interface-2] [INFO] [1765997001.617779220] [pcb_odo_interface]: Waypoint added successfully.
1765997001.6651762 [pcb_odo_interface-2] [INFO] [1765997001.664632506] [pcb_odo_interface]: Received from PCB: SET;POS;2758.3662;955.7486;-1.9489
1765997001.7649724 [pcb_odo_interface-2] [INFO] [1765997001.764606718] [pcb_odo_interface]: Received from PCB: SET;POS;2756.7107;951.5458;-1.9440
1765997001.8650234 [pcb_odo_interface-2] [INFO] [1765997001.864622023] [pcb_odo_interface]: Received from PCB: SET;POS;2752.0649;939.7009;-1.9466
1765997001.9655597 [pcb_odo_interface-2] [INFO] [1765997001.964757402] [pcb_odo_interface]: Received from PCB: SET;POS;2744.2092;919.8899;-1.9507
1765997002.0640323 [pcb_odo_interface-2] [INFO] [1765997002.063687134] [pcb_odo_interface]: Received from PCB: SET;POS;2735.6072;898.4587;-1.9556
1765997002.1640825 [pcb_odo_interface-2] [INFO] [1765997002.163643791] [pcb_odo_interface]: Received from PCB: SET;POS;2726.9026;877.0688;-1.9596
1765997002.2645090 [pcb_odo_interface-2] [INFO] [1765997002.263760318] [pcb_odo_interface]: Received from PCB: SET;POS;2718.0205;855.4769;-1.9627
1765997002.3639774 [pcb_odo_interface-2] [INFO] [1765997002.363629660] [pcb_odo_interface]: Received from PCB: SET;POS;2709.0977;833.9705;-1.9654
1765997002.4640260 [pcb_odo_interface-2] [INFO] [1765997002.463642428] [pcb_odo_interface]: Received from PCB: SET;POS;2700.3464;812.9441;-1.9645
1765997002.5631046 [pcb_odo_interface-2] [INFO] [1765997002.562652734] [pcb_odo_interface]: Received from PCB: SET;POS;2691.5271;791.6705;-1.9627
1765997002.6629889 [pcb_odo_interface-2] [INFO] [1765997002.662650743] [pcb_odo_interface]: Received from PCB: SET;POS;2682.7185;770.3237;-1.9614
1765997002.7631903 [pcb_odo_interface-2] [INFO] [1765997002.762686751] [pcb_odo_interface]: Received from PCB: SET;POS;2673.9119;748.9073;-1.9605
1765997002.8631716 [pcb_odo_interface-2] [INFO] [1765997002.862675871] [pcb_odo_interface]: Received from PCB: SET;POS;2665.2126;727.7216;-1.9605
1765997002.9621742 [pcb_odo_interface-2] [INFO] [1765997002.961730418] [pcb_odo_interface]: Received from PCB: SET;POS;2656.4565;706.4221;-1.9614
1765997003.0621781 [pcb_odo_interface-2] [INFO] [1765997003.061687241] [pcb_odo_interface]: Received from PCB: SET;POS;2647.6992;685.1229;-1.9605
1765997003.1620731 [pcb_odo_interface-2] [INFO] [1765997003.161679250] [pcb_odo_interface]: Received from PCB: SET;POS;2639.0244;663.9959;-1.9601
1765997003.2621257 [pcb_odo_interface-2] [INFO] [1765997003.261672278] [pcb_odo_interface]: Received from PCB: SET;POS;2630.4146;642.9799;-1.9587
1765997003.3620951 [pcb_odo_interface-2] [INFO] [1765997003.361690379] [pcb_odo_interface]: Received from PCB: SET;POS;2621.8335;621.9516;-1.9574
1765997003.4610932 [pcb_odo_interface-2] [INFO] [1765997003.460696926] [pcb_odo_interface]: Received from PCB: SET;POS;2613.3135;600.9675;-1.9556
1765997003.5611572 [pcb_odo_interface-2] [INFO] [1765997003.560692824] [pcb_odo_interface]: Received from PCB: SET;POS;2604.7896;579.8477;-1.9529
1765997003.6610248 [pcb_odo_interface-2] [INFO] [1765997003.660691647] [pcb_odo_interface]: Received from PCB: SET;POS;2596.3047;558.7123;-1.9520
1765997003.7612128 [pcb_odo_interface-2] [INFO] [1765997003.760718064] [pcb_odo_interface]: Received from PCB: SET;POS;2587.8374;537.5696;-1.9511
1765997003.8604875 [pcb_odo_interface-2] [INFO] [1765997003.859829388] [pcb_odo_interface]: Received from PCB: SET;POS;2579.3777;516.3556;-1.9489
1765997003.9600585 [pcb_odo_interface-2] [INFO] [1765997003.959697212] [pcb_odo_interface]: Received from PCB: SET;POS;2570.8997;494.9435;-1.9471
1765997004.0601456 [pcb_odo_interface-2] [INFO] [1765997004.059720888] [pcb_odo_interface]: Received from PCB: SET;POS;2562.5247;473.6960;-1.9449
1765997004.1604624 [pcb_odo_interface-2] [INFO] [1765997004.159772730] [pcb_odo_interface]: Received from PCB: SET;POS;2554.2283;452.4858;-1.9422
1765997004.2590861 [pcb_odo_interface-2] [INFO] [1765997004.258742684] [pcb_odo_interface]: Received from PCB: SET;POS;2546.7148;433.0193;-1.9332
1765997004.3591037 [pcb_odo_interface-2] [INFO] [1765997004.358737156] [pcb_odo_interface]: Received from PCB: SET;POS;2541.9907;420.2515;-1.9136
1765997004.4591420 [pcb_odo_interface-2] [INFO] [1765997004.458741851] [pcb_odo_interface]: Received from PCB: SET;POS;2539.6626;413.6523;-1.9073
1765997004.5590899 [pcb_odo_interface-2] [INFO] [1765997004.558729008] [pcb_odo_interface]: Received from PCB: SET;POS;2538.0435;409.0290;-1.9069
1765997004.6592069 [pcb_odo_interface-2] [INFO] [1765997004.658746628] [pcb_odo_interface]: Received from PCB: SET;POS;2537.2207;406.6212;-1.8425
1765997004.7582076 [pcb_odo_interface-2] [INFO] [1765997004.757750656] [pcb_odo_interface]: Received from PCB: SET;POS;2537.1821;406.5645;-1.6651
1765997004.8581374 [pcb_odo_interface-2] [INFO] [1765997004.857742277] [pcb_odo_interface]: Received from PCB: SET;POS;2537.2007;406.9454;-1.4792
1765997004.9587553 [pcb_odo_interface-2] [INFO] [1765997004.957755378] [pcb_odo_interface]: Received from PCB: SET;POS;2537.1707;407.1337;-1.2910
1765997005.0582941 [pcb_odo_interface-2] [INFO] [1765997005.057770572] [pcb_odo_interface]: Received from PCB: SET;POS;2537.1516;407.1942;-1.1056
1765997005.1571634 [pcb_odo_interface-2] [INFO] [1765997005.156763527] [pcb_odo_interface]: Received from PCB: SET;POS;2537.0850;407.3026;-0.9179
1765997005.2571039 [pcb_odo_interface-2] [INFO] [1765997005.256758221] [pcb_odo_interface]: Received from PCB: SET;POS;2537.0957;407.3118;-0.7284
1765997005.3571370 [pcb_odo_interface-2] [INFO] [1765997005.356777397] [pcb_odo_interface]: Received from PCB: SET;POS;2536.9954;407.3899;-0.5398
1765997005.4574857 [pcb_odo_interface-2] [INFO] [1765997005.456871443] [pcb_odo_interface]: Received from PCB: SET;POS;2537.1060;407.3266;-0.3494
1765997005.5561063 [pcb_odo_interface-2] [INFO] [1765997005.555768379] [pcb_odo_interface]: Received from PCB: SET;POS;2537.1670;407.3077;-0.1586
1765997005.6562011 [pcb_odo_interface-2] [INFO] [1765997005.655787185] [pcb_odo_interface]: Received from PCB: SET;POS;2536.9768;407.3217;-0.0142
1765997005.7564390 [pcb_odo_interface-2] [INFO] [1765997005.755862194] [pcb_odo_interface]: Received from PCB: SET;POS;2536.9131;407.3227;-0.0075
@Ackimixs commented on GitHub:
modelec@modelec-desktop:~/modelec-marcel-ROS$ tail -f ~/.ros/log/latest/launch.log
1765995964.8132682 [strat_fsm-4] [INFO] [1765995964.812673220] [strat_fsm]: Transition 0 -> 1: System ready
1765995964.8138742 [pcb_odo_interface-2] [INFO] [1765995964.813235300] [pcb_odo_interface]: Sending to PCB: SET;START;1
1765995964.8144829 [pcb_action_interface-3] [WARN] [1765995964.814192417] [pcb_action_interface]: Unknown message format for OK response: 'OK;TIR;ARM;1'
1765995966.3131638 [strat_fsm-4] [INFO] [1765995966.312642732] [strat_fsm]: Transition 1 -> 2: Match started
1765995966.3137290 [strat_fsm-4] [INFO] [1765995966.312991544] [strat_fsm]: Transition 2 -> 3: Selecting a game action
1765995966.4133093 [strat_fsm-4] [INFO] [1765995966.412537861] [strat_fsm]: Transition 3 -> 4: Selected game action
1765995966.5219193 [strat_fsm-4] [INFO] [1765995966.521599344] [strat_fsm]: Start: (2650, 1700), Goal: (2535, 1200)
1765995966.5327156 [strat_fsm-4] [INFO] [1765995966.532412067] [strat_fsm]: No need to rotate first, going directly to target
1765995966.5334158 [pcb_odo_interface-2] [INFO] [1765995966.533034799] [pcb_odo_interface]: Sending to PCB: SET;WAYPOINT;0;1;2535;1200;6.283093
1765995966.5346987 [pcb_odo_interface-2] [INFO] [1765995966.534493401] [pcb_odo_interface]: Waypoint added successfully.
1765995970.2354035 [pcb_odo_interface-2] [INFO] [1765995970.234890272] [pcb_odo_interface]: Waypoint reached: ID 0
1765995971.4128294 [strat_fsm-4] [INFO] [1765995971.412400603] [strat_fsm]: Transition 4 -> 2: Take done
1765995971.5128272 [strat_fsm-4] [INFO] [1765995971.512379753] [strat_fsm]: Transition 2 -> 3: Selecting a game action
1765995971.6134036 [strat_fsm-4] [INFO] [1765995971.612555004] [strat_fsm]: Transition 3 -> 5: Selected game action
1765995971.7217293 [strat_fsm-4] [INFO] [1765995971.721412219] [strat_fsm]: Start: (2535, 1210), Goal: (2765, 950)
1765995971.7252362 [strat_fsm-4] [INFO] [1765995971.724727719] [strat_fsm]: Rotating first before going to target
1765995971.7287099 [pcb_odo_interface-2] [INFO] [1765995971.725416269] [pcb_odo_interface]: Sending to PCB: SET;WAYPOINT;0;1;2536;1207;-0.842712
1765995971.7289245 [pcb_odo_interface-2] [INFO] [1765995971.726939670] [pcb_odo_interface]: Waypoint added successfully.
1765995972.2904277 [pcb_odo_interface-2] [INFO] [1765995972.290040856] [pcb_odo_interface]: Waypoint reached: ID 0
1765995972.2914915 [pcb_odo_interface-2] [INFO] [1765995972.291020233] [pcb_odo_interface]: Sending to PCB: SET;WAYPOINT;0;1;2766;949;5.442073
1765995972.2932792 [pcb_odo_interface-2] [INFO] [1765995972.293015656] [pcb_odo_interface]: Waypoint added successfully.
1765995982.9128242 [strat_fsm-4] [INFO] [1765995982.912398940] [strat_fsm]: Transition 5 -> 2: Free done
1765995983.0128469 [strat_fsm-4] [INFO] [1765995983.012410256] [strat_fsm]: Transition 2 -> 3: Selecting a game action
1765995983.1126971 [strat_fsm-4] [INFO] [1765995983.112365295] [strat_fsm]: Transition 3 -> 4: Selected game action
1765996003.2236423 [strat_fsm-4] [INFO] [1765996003.222775936] [strat_fsm]: Start: (2755, 960), Goal: (2535, 400)
1765996003.2495422 [strat_fsm-4] [INFO] [1765996003.249151532] [strat_fsm]: Rotating first before going to target
1765996003.2536385 [pcb_odo_interface-2] [INFO] [1765996003.253295815] [pcb_odo_interface]: Sending to PCB: SET;WAYPOINT;0;1;2758;956;-1.952233
1765996003.2550693 [pcb_odo_interface-2] [INFO] [1765996003.254806125] [pcb_odo_interface]: Waypoint added successfully.
1765996003.9682152 [pcb_odo_interface-2] [INFO] [1765996003.967869033] [pcb_odo_interface]: Waypoint reached: ID 0
1765996003.9695609 [pcb_odo_interface-2] [INFO] [1765996003.968555916] [pcb_odo_interface]: Sending to PCB: SET;WAYPOINT;0;1;2535;400;6.283093
1765996003.9702420 [pcb_odo_interface-2] [INFO] [1765996003.969936109] [pcb_odo_interface]: Waypoint added successfully.
1765996024.4129198 [strat_fsm-4] [INFO] [1765996024.412444669] [strat_fsm]: Transition 4 -> 2: Take done
1765996024.5126820 [strat_fsm-4] [INFO] [1765996024.512349275] [strat_fsm]: Transition 2 -> 3: Selecting a game action
1765996024.6128676 [strat_fsm-4] [INFO] [1765996024.612413055] [strat_fsm]: Transition 3 -> 5: Selected game action
1765996031.3132806 [strat_fsm-4] [INFO] [1765996031.312930461] [strat_fsm]: Obstacle remove request received
1765996031.3138316 [strat_fsm-4] [INFO] [1765996031.313122590] [strat_fsm]: Obstacle remove request received
1765996034.8207886 [strat_fsm-4] [INFO] [1765996034.820364777] [strat_fsm]: Start: (2535, 410), Goal: (2420, 260)
1765996034.8235631 [strat_fsm-4] [INFO] [1765996034.822869691] [strat_fsm]: Rotating first before going to target
1765996034.8240409 [pcb_odo_interface-2] [INFO] [1765996034.823147955] [pcb_odo_interface]: Sending to PCB: SET;WAYPOINT;0;1;2536;407;-2.228112
1765996034.8250096 [pcb_odo_interface-2] [INFO] [1765996034.824667300] [pcb_odo_interface]: Waypoint added successfully.
1765996036.1116765 [pcb_odo_interface-2] [INFO] [1765996036.111241714] [pcb_odo_interface]: Waypoint reached: ID 0
1765996036.1132035 [pcb_odo_interface-2] [INFO] [1765996036.112615308] [pcb_odo_interface]: Sending to PCB: SET;WAYPOINT;0;1;2421;258;4.057008
1765996036.1144922 [pcb_odo_interface-2] [INFO] [1765996036.114183015] [pcb_odo_interface]: Waypoint added successfully.
1765996037.2082417 [pcb_odo_interface-2] [INFO] [1765996037.207861952] [pcb_odo_interface]: Waypoint reached: ID 0
1765996038.3128867 [strat_fsm-4] [INFO] [1765996038.312421538] [strat_fsm]: Transition 5 -> 2: Free done
1765996038.4128304 [strat_fsm-4] [INFO] [1765996038.412390092] [strat_fsm]: Transition 2 -> 6: Cleanup and finish match
1765996038.4140258 [modelec_gui-1] [INFO] [1765996038.413359048] [modelec_gui]: Game stop
1765996038.5251369 [strat_fsm-4] [INFO] [1765996038.524831287] [strat_fsm]: Start: (2425, 265), Goal: (2645, 1410)
1765996038.5846667 [pcb_odo_interface-2] [INFO] [1765996038.584319610] [pcb_odo_interface]: Sending to PCB: SET;WAYPOINT;0;1;2426;265;1.415948
1765996038.5865228 [pcb_odo_interface-2] [INFO] [1765996038.586348025] [pcb_odo_interface]: Waypoint added successfully.
1765996040.6410682 [pcb_odo_interface-2] [INFO] [1765996040.640699602] [pcb_odo_interface]: Waypoint reached: ID 0
1765996040.7229500 [strat_fsm-4] [INFO] [1765996040.722532769] [strat_fsm]: Start: (2425, 270), Goal: (2645, 1410)
1765996040.7937953 [pcb_odo_interface-2] [INFO] [1765996040.793399268] [pcb_odo_interface]: Sending to PCB: SET;WAYPOINT;0;1;2649;1410;1.570793
1765996040.7948797 [pcb_odo_interface-2] [INFO] [1765996040.794658994] [pcb_odo_interface]: Waypoint added successfully.
1765996043.3140919 [strat_fsm-4] [INFO] [1765996043.313094945] [strat_fsm]: Obstacle add request received
1765996043.3143547 [strat_fsm-4] [INFO] [1765996043.313339487] [strat_fsm]: Obstacle add request received
1765996043.3144515 [strat_fsm-4] [INFO] [1765996043.313454687] [strat_fsm]: Obstacle add request received
1765996043.3145247 [strat_fsm-4] [INFO] [1765996043.313551245] [strat_fsm]: Obstacle add request received
1765996043.3149745 [strat_fsm-4] [INFO] [1765996043.313645563] [strat_fsm]: Obstacle add request received
1765996046.4142828 [pcb_odo_interface-2] [INFO] [1765996046.413918725] [pcb_odo_interface]: Waypoint reached: ID 0
1765996060.0267296 [strat_fsm-4] [INFO] [1765996060.026333776] [strat_fsm]: Start: (2645, 1405), Goal: (2650, 1700)
1765996060.0280855 [pcb_odo_interface-2] [INFO] [1765996060.027785934] [pcb_odo_interface]: Sending to PCB: SET;WAYPOINT;0;1;2650;1700;-1.570800
1765996060.0292368 [pcb_odo_interface-2] [INFO] [1765996060.028996446] [pcb_odo_interface]: Waypoint added successfully.
1765996063.4515059 [pcb_odo_interface-2] [INFO] [1765996063.451132459] [pcb_odo_interface]: Waypoint reached: ID 0
1765996063.5144045 [strat_fsm-4] [INFO] [1765996063.514019828] [strat_fsm]: Transition 6 -> 7: Cleanup done
1765996063.6128066 [strat_fsm-4] [INFO] [1765996063.612394335] [strat_fsm]: State: STOP - Match finished
@Ackimixs commented on GitHub:
en tout cas jamais recu du coté du rasp
@Ackimixs commented on GitHub:
avec les log du dessus on peut voir que le Waypoint est bien envoyé au pcb, le robot le lit et bien et vas a ce point mais ne renvoie pas le message pour dire qu'il est bien arrivé
@Ackimixs commented on GitHub:
trying to patch with that
c4a8c282fe@Ackimixs commented on GitHub:
closing the issue rn