sync develop branch with team-vigir

[benmaidel]

No description provided.

[fmessmer]

• @LoyVanBeek's PR has been merged, so the require_launch_success feature is included in this PR
• https://github.com/mojin-robotics/mbl/pull/168 shows that the sync does not break anything (obvious) in mbl
• https://github.com/mojin-robotics/mojin_atf/pull/31 cannot be used to verify this for moin_atf_mbl due to some tf_metric issue in atf

@benmaidel will test the team-vigir/flexbe_behavio_engine#develop branches together with the mojn_flexbe PRs and with kevin emulation....if he is happy we will merge this PR

[fmessmer]

at least https://github.com/mojin-robotics/mojin_flexbe/pull/72 (probaly other states/behaviors) do not work (or their tests pass) with this update PR....
thus, we'll have to investigate the consequences of this sync a bit more...and keep mojin-robotics/flexbe_behavior_engine#develop at the current state until then...

[benmaidel]

I've tested https://github.com/FlexBE/flexbe_app/tree/develop and https://github.com/team-vigir/flexbe_behavior_engine/tree/develop against the kevin emulation. These versions do not seem to fit to each other. The FlexBE app shows the wrong transition although the execution engine is proposing the right one. E.g. A State has two transitions succeeded and failed. Pressing on the succeeded transition will result in an failed outcome.
Could produce this error only on our custom states that use the usedata_or_member feature. Seems like the numerical order of the transitions changed and our custom changes to the flexbe_app do not fit to that. Need to further investigate the root of the problem. 

[LoyVanBeek]

I think I've also observed this issue once of twice with Robotise. Had some other issues with userdata then too IIRC, so I did not look into this further. But I don't think it has anything to do with the userdata_or_member stuff, since AFAIK we don't use that for Robotise.

[LoyVanBeek]

FYI: I'm currently running flexbe_behavior_engine on version 1.3.1 and flexbe_app on version mojin-devel@d2480083d28b92c6a6e7b3e668ba9e8f83edcff6

[benmaidel]

FYI: I'm currently running flexbe_behavior_engine on version 1.3.1 and flexbe_app on version mojin-devel@d2480083d28b92c6a6e7b3e668ba9e8f83edcff6

This combination works for me too. Or at least with the BMW Behavior. Needs to be checked against the other behaviors so the error I've described here #6 (comment) is not happening anymore.

[fmessmer]

here is the current branch combination - which I used for kinetic/noetic compatibility:

kinetic:

- git:
    local-name: flexbe_app
    uri: git@github.com:mojin-robotics/flexbe_app
    version: mojin-devel
- git:
    local-name: flexbe_behavior_engine
    uri: git@github.com:mojin-robotics/flexbe_behavior_engine
    version: develop
- git:
    local-name: generic_flexbe_states
    uri: git@github.com:mojin-robotics/generic_flexbe_states
    version: master
- git:
    local-name: mojin_flexbe
    uri: git@github.com:mojin-robotics/mojin_flexbe
    version: kinetic-devel

noetic:

- git:
    local-name: flexbe_app
    uri: git@github.com:mojin-robotics/flexbe_app
    version: mojin-devel
#- git: # use released version
#    local-name: flexbe_behavior_engine
#    uri: git@github.com:mojin-robotics/flexbe_behavior_engine
#    version: develop
- git:
    local-name: generic_flexbe_states
    uri: git@github.com:mojin-robotics/generic_flexbe_states
    version: master
- git:
    local-name: mojin_flexbe
    uri: git@github.com:mojin-robotics/mojin_flexbe
    version: kinetic-devel

[fmessmer]

as discussed:
@benmaidel will do some testing with #6 and mojin-robotics/flexbe_app#10 in order to get this merged

[fmessmer]

branch successfully tested in:

• https://github.com/mojin-robotics/mojin_flexbe/pull/88
• https://github.com/mojin-robotics/mbl/pull/172
• https://github.com/mojin-robotics/kevin_statemachine/pull/7