Update: Submodule commits for SkiROS2

[matthias-mayr]

• Problem skills for the participants
• Solution skills for all problems
• Docs for problem 1-4
• Planning integration with skills, but unfinished problem & solution PDDL files

[matthias-mayr]

I'll merge this right away since it only includes the SkiROS2 repos and I want to give this to some people to try it out.

It would be great if other people could follow the instructions as well and open issues in https://github.com/matthias-mayr/skiros2_pyrobosim_lib. Thanks in advance.

[sea-bass]

I tested this and everything ran.

Here are my comments:

• Definitely ran into this: Skill Manager goes down when pyrobosim finishes navigating matthias-mayr/skiros2_pyrobosim_lib#3
• My GUI would often freeze and I got the Ubuntu ("Force Quit" or "Wait" dialog). Just waiting was fine in the long run, but the GUI generally was not too responsive.
• In a few cases, the GUI never loaded and froze on startup. But restarting was fine.
• Forgetting the above issues, Problems 1 and 3 seemed to complete properly, but not 2 and 4. Somehow the robot never opened the dumpster -- probably the same issue as Problem 2 can not run in the Problem 2 world matthias-mayr/skiros2_pyrobosim_lib#7?
• Generally, there were very long waits between any actions executing, and the GUI seemed to go through an entire "refresh" until a skill started running again. Is this normal?
  • Update: This seems to be just the wm_set_relation node taking a long time.

[matthias-mayr]

Here are my comments:

Thanks a lot.

In a few cases, the GUI never loaded and froze on startup. But restarting was fine.

@p-rosit has this as well. I don't get that though. I wonder what could cause it. I noticed a general slowdown if a lot of ROS 2 traffic happens in a network, but at least for Pontus that should not happen. Hard to reproduce here though.

Forgetting the above issues, Problems 1 and 3 seemed to complete properly, but not 2 and 4. Somehow the robot never opened the dumpster -- probably the same issue as matthias-mayr/skiros2_pyrobosim_lib#7?

I assume that you ran the solutions and shall check them again. Obviously the problem skills do not solve the tasks.

Generally, there were very long waits between any actions executing, and the GUI seemed to go through an entire "refresh" until a skill started running again. Is this normal?

Update: This seems to be just the wm_set_relation node taking a long time.

Correct observation. With ROS 2 this seems to have become really slow.

[matthias-mayr]

@sea-bass thanks for the feedback. I indeed forgot to run the skills manually again after I added a postcondition.
#71 addresses the scenarios that did not complete.