updated ariac3 to 3.01, unable to deliver tray or get score

[dan]

When I order a tray to be delivered, I get this error:

[ INFO] [1553887189.335080781, 34.762000000]: Announcing order: order_1

[ERROR] [1553887385.731393569, 116.814000000]: [INFO] AGV 'agv1' delivery triggered for kit: order_1_shipment_0 [ INFO] [1553887387.659185674, 117.566000000]: waitForService: Service [/submit_tray] has not been advertised, waiting...

[Shane Loretz]

Hi @dan77062 ,

The service name is /ariac/submit_tray, not /submit_tray.

Just noting /ariac/submit_tray is fine for development, but considered a cheat as it does not move the AGV or clear the parts off the tray. During the competition this service will be disabled, and the services /ariac/agv1 and /ariac/agv2 must be used instead.

For more info about the interfaces, see https://bitbucket.org/osrf/ariac/wiki/2019/competition_interface_documentation

[dan]

After starting the sim and getting an order, I called this service:

rosservice call /ariac/agv1 "kit_type: order_0_kit_0"

and the sim generated those messages. I did not call submit_tray

Here is the call and the local response (but the sim just hangs, waiting.......)

rosservice call /ariac/agv1 "kit_type: order_0_kit_0"

success: True

[Shane Loretz]

Hi @dan77062 , It looks like the service name is /ariac/submit_shipment and the service type is osrf_gear/SubmitShipment. I've fixed the documentation here: https://bitbucket.org/osrf/ariac/wiki/2019/competition_interface_documentation

Also, the AGVControl message uses shipment_type instead of kit_type https://bitbucket.org/osrf/ariac/src/master/osrf_gear/srv/AGVControl.srv

[dan]

I am trying to use the real call, /ariac/agv1 not the cheat call /ariac/submit_shipment however, here are the results for submit_shipment

rosservice call /ariac/submit_shipment "shipment_type: order_0_kit_0"

ERROR: Incompatible arguments to call service:

No field name [shipment_type]

Provided arguments are:

 * {'shipment_type': 'order_0_kit_0'} (type dict)

Service arguments are: [tray_id kit_type]

$ rosservice call /ariac/submit_shipment "kit_type: order_0_kit_0"

success: True

inspection_result: 0.0

Here are the results for the call to /ariac/agv1

rosservice call /ariac/agv1 "shipment_type: order_0_kit_0"

ERROR: Incompatible arguments to call service:

No field name [shipment_type]

Provided arguments are:

 * {'shipment_type': 'order_0_kit_0'} (type dict)

Service arguments are: [kit_type]


$ rosservice call /ariac/agv1 "kit_type: order_0_kit_0"
success: True


But that `True` result yields the error in the sim:

[ERROR] [1554031382.529333411, 24.092000000]: [INFO] AGV 'agv1' delivery triggered for kit: order_0_kit_0

[ INFO] [1554031383.667707717, 24.844000000]: waitForService: Service [/submit_tray] has not been advertised, waiting...

[Steven Gray]

@dan77062 Looks like you might be missing some additional single quotes. I'm building the newest code from source and below works for me.

rosservice call /ariac/agv1 "shipment_type: 'order_0_shipment_0'" 

I get the following output from gazebo:

[1554051001.650743372, 33.828000000] KitTrayPlugin::HandleGetContentService.325: agv1::kit_tray_1::kit_tray_1::tray: Handle get content service called by: /gazebo
[1554051001.652362903, 33.830000000] ROSAGVPlugin::OnCommand.370: [INFO] AGV 'agv1' delivery triggered
[1554051002.437911791, 34.582000000] ROSAGVPlugin::OnUpdate.295: AGV successfully triggered.

[dan]

I must have a version conflict, since the result I see is:

rosservice call /ariac/agv1 "shipment_type: 'order_0_shipment_0'" 

ERROR: Incompatible arguments to call service:

No field name [shipment_type]

Provided arguments are:

 * {'shipment_type': 'order_0_shipment_0'} (type dict)

Service arguments are: [kit_type]

Unfortunately, in my current location, I can update but there is insufficient bandwidth to re-install or even to download the source.

[dan]

downloaded source code overnight and issue is resolved. Was a version problem.