improvements to policy execution #59
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…p_nav also outputs succeeded immediately
This new version does not wait to receive a callback from the cancelled action server. This is dangerous in that the next task may start while the previous task is still ending, but there isn't a huge problem with this in our current tasks. A better solution would be to wait a bit, then give up on waiting for the callback, but this is hard in the current design. Probably needs to be reimplemented as a state machine to make this cleaner.
This new version does not wait to receive a callback from the cancelled action server. This is dangerous in that the next task may start while the previous task is still ending, but there isn't a huge problem with this in our current tasks. A better solution would be to wait a bit, then give up on waiting for the callback, but this is hard in the current design. Probably needs to be reimplemented as a state machine to make this cleaner.
This also checks if we get late preempt responses.
Seems clean and robust for now.
1) Made service calls thread safe. 2) Fixed order of calls in cancellation 3) Removed blocking assumption in demand task in scheduler 4) Changed bounding of tasks based on current execution time.
This new version does not wait to receive a callback from the cancelled action server. This is dangerous in that the next task may start while the previous task is still ending, but there isn't a huge problem with this in our current tasks. A better solution would be to wait a bit, then give up on waiting for the callback, but this is hard in the current design. Probably needs to be reimplemented as a state machine to make this cleaner.
This also checks if we get late preempt responses.
Seems clean and robust for now.
1) Made service calls thread safe. 2) Fixed order of calls in cancellation 3) Removed blocking assumption in demand task in scheduler 4) Changed bounding of tasks based on current execution time.
…utive into sm_executor Conflicts: task_executor/src/task_executor/base_executor.py
…utive into hydro-devel Conflicts: task_executor/scripts/task_routine_tester.py task_executor/scripts/test_task_action.py task_executor/src/task_executor/base_executor.py
…xecutive into sm_executor Conflicts: mdp_plan_exec/scripts/mdp_planner.py task_executor/scripts/task_routine_tester.py task_executor/scripts/test_task_action.py task_executor/src/task_executor/base_executor.py task_executor/src/task_executor/sm_base_executor.py
Sm executor
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Ignoring this as out of sync. |
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Tackles #57. Now when an unexpected state transition happens, a new policy is recalculated from the new state, using the new data to update the MDP model, and executed afterwards (no more aborting due to this)