PLEXIL uses LightSetIntensity action

[kmdalal]

Summary:

• PLEXIL now uses the ROS action for LightSetIntensity instead of the service.
• set_light_intensity and SetLightIntensity have been renamed to light_set_intensity and LightSetIntensity, respectively, everywhere.
• Support for ROS services is completely removed.

Unrelated changes:

• Refactored the initialization of action status subscribers, eliminating the individual member pointers.
• Minor code reformatting.

Test:

• First, ow_plexil should be rebuilt clean, because a plan was renamed.
• Start any simulator world.
• Run the TestLanderLights plan, e.g.
  $ roslaunch ow_plexil ow_exec.launch plan:=TestLanderLights.plx
• Watch both Gazebo and the ow_exec terminal, which explains what you should see in Gazebo as the plan runs. (It happens fast, don't blink!).
• Run ReferenceMission1 for regression. It should complete without incident.

Notes:

• The major code changes are in OwInterface.cpp. Changes elsewhere are trivial.

[AstroStucky]

First run I saw the following

[ERROR] [1669830912.194065798, 1916524827.017499924]: ArmMoveJoint action server did not connect!

Everything appeared to work, but the test went too fast for me to follow. So I'm trying it again now.

[AstroStucky]

I did not see that error the second time around. It may have resulted from me starting ow_plexil a little too soon after starting the simulation.

The lander lights test performed as expected. I might recommend increasing the wait time between commands to make it easier to follow.

ReferenceMission1 performed as expected.

All tests pass 👍🏻

[AstroStucky]

No real comments on the code aside from a suggestion about how parameter checking could be simplified in the future.

Approved!

[AstroStucky]

No change requests here, just something to consider for your refactoring of this code.

Verifying action input here in ow_plexil requires an awful lot of repetition of logic already performed by the action servers.

Could an alternative approach be to send arguments to the action server blindly, and let the action server perform value checks? Out of range values should result in an aborted action from the action server, which ow_plexil could look for (and perhaps already does). The user still gets the benefit of knowing why the command was aborted, only that message would come from the simulation terminal rather than the ow_plexil terminal.

[kmdalal]

Good suggestion, though I'm not sure if that's better than the redundant check, which has its advantages (e.g. performance, customizing the message). It would apply to many actions. Will keep this in mind during future development.

[kmdalal]

First run I saw the following

[ERROR] [1669830912.194065798, 1916524827.017499924]: ArmMoveJoint action server did not connect!

This is an unrelated problem, and I agree with your guess that plexil may have been started too soon. I rarely if ever have seen this error.