orders with a designated tray

[dan]

Is there an example of an order where the tray is specified? What is the syntax for that?

[Shane Loretz]

Yes, The example_custom_config.yaml has an order where they tray is specifed:

https://bitbucket.org/osrf/ariac/src/master/osrf_gear/config/example_custom_config.yaml

It is given by the key destinations which is a list with length shipment_count where each value may be agv1, agv2, or any.

[Shane Loretz]

Also note 3.0.0~pre6 will be the first to have this feature. That release is currently being built by the build farm.

[dan]

OK, thx for the quick response.

[dan]

3.0.0.pre6 seg faults with that config

[Shane Loretz]

Hi @dan77062 , mind posting the log of the segfault you see? I tried the example config in a fresh docker container with ariac3.0.0.pre6, called services to start the competition and submit orders, and did not see it crash.

rosrun osrf_gear gear.py -f $(catkin_find osrf_gear --share)/config/example_custom_config.yaml $(catkin_find osrf_gear --share)/config/sample_user_config.yaml --development-mode

[dan]

Here are the log files that show the error happening. The output says there should be gazebo log files ...../.ros/log/f12e3ce8-52e6-11e9-b8ee-605718ce5397/gazebo-2*.log but those do not exist. The error happens right after calling for an order. Here are the calls:

rosrun osrf_gear gear.py -f $(catkin_find osrf_gear --share)/config/example_custom_config.yaml $(catkin_find osrf_gear --share)/config/sample_user_config.yaml --development-mode

rosservice call /ariac/start_competition

success: True message: "competition started successfully!"

[dan]

Using sample.yaml in place of example_custom_config.yaml runs OK.

rosrun osrf_gear gear.py -f $(catkin_find osrf_gear --share)/config/sample.yaml $(catkin_find osrf_gear --share)/config/sample_user_config.yaml --development-mode

[dan]

By the way, putting

shipment_count: 1                # How many of the same shipment are in the order

destinations: [agv1]             # Which agv the shipments must be delivered to

has no impact on the order:

rostopic echo /ariac/orders

order_id: "order_0"

shipments: - shipment_type: "order_0_shipment_0

products: 
  - 
    type: "piston_rod_part"

    pose:

      position:

        x: 0.15

        y: 0.1

        z: 0.0

      orientation:

        x: 0.0

        y: 0.0

        z: 0.707106781185

        w: 0.707106781188

  -

    type: "pulley_part"

    pose:

      position:

        x: 0.0

        y: 0.0

        z: 0.0

      orientation:

        x: 0.0

        y: 0.0

        z: 0.0

        w: 1.0

  -

    type: "gear_part"

    pose:

      position:

        x: -0.15

        y: -0.1

        z: 0.0

      orientation:

        x: 0.0

        y: 0.0

        z: 0.0

        w: 1.0

[dan]

built from current source and problem is gone.