oddness trying to send agv during blackout

[Former user]

for scenario $(find osrf_gear)/config/sample_sensor_blackout.yaml

we attempt to ship out agv2 during a blackout, and the simulator says:

[ WARN] [1557248749.633394023, 21.033000000]: Force enabling conveyor because power set by task manager. [ INFO] [1557248749.634422654, 21.034000000]: Announcing order: order_0

[ INFO] [1557248795.112333823, 66.050000000]: Triggering sensor blackout because 2 products detected. [ERROR] [1557248829.742467561, 93.411000000]: agv2::kit_tray_2::kit_tray_2::tray: Handle get content service called by: /gazebo [ERROR] [1557248829.743240001, 93.411000000]: [INFO] AGV 'agv2' delivery triggered [ INFO] [1557248830.542864287, 94.163000000]: AGV successfully triggered. [ERROR] [1557248876.930704372, 96.917000000]: agv2::kit_tray_2::kit_tray_2::tray: Handle get content service called by: /gazebo [ERROR] [1557248876.931765354, 96.917000000]: AGV not successfully triggered as it was not ready to deliver trays.

The trial does not end and we get no points.

[Shane Loretz]

I’m unable to reproduce submitting a shipment during sensor blackout not being counted in the final score. The sensor blackout trial has two shipments, has the second shipment been submitted?

‌

How I tested:

Create a copy of sample_sensor_blackout.yaml with spawn_extra_models: true

diff --git a/osrf_gear/config/sample_sensor_blackout.yaml b/osrf_gear/config/sample_sensor_blackout.yaml
index 790d01b..98492b6 100644
--- a/osrf_gear/config/sample_sensor_blackout.yaml
+++ b/osrf_gear/config/sample_sensor_blackout.yaml
@@ -6,6 +6,7 @@
 options:
   insert_models_over_bins: true
   start_box_at_belt_center: false
+  spawn_extra_models:  true

 orders:
   order_0:

Create a file called sample_sensor_blackout-shipment.yaml with content that will spawn a perfect shipment on AGV 2:

models_to_spawn:
  agv2::kit_tray_2:
    models:
      part_0:
        type: piston_rod_part
        pose:
          xyz: [0.1, -0.1, 0]
          rpy: [0, 0, 0]
      part_1:
        type: gear_part
        pose:
          xyz: [-0.1, 0, 0]
          rpy: [0, 0, 'pi']
      part_2:
        type: gear_part
        pose:
          xyz: [-0.1, 0.15, 0]
          rpy: [0, 0, 0]

Launch the sample

rosrun osrf_gear gear.py -f ./src/ariac/osrf_gear/config/sample_sensor_blackout.yaml $(catkin_find osrf_gear --share)/config/sample_user_config.yaml ./src/ariac/osrf_gear/config/sample_sensor_blackout-shipment.yaml

Start the competition

rosservice call /ariac/start_competition

Submit the first shipment

rosservice call /ariac/agv2 "shipment_type: 'order_0_shipment_0'"

Submit the second shipment when the agv comes back with an empty tray

rosservice call /ariac/agv2 "shipment_type: 'order_0_shipment_1'"

Shipments sent during sensor blackout were counted for score (first shipment earns full 9 points, second shipment earns 0).

[ WARN] [1557260770.092523728, 63.796000000]: Force enabling conveyor because power set by task manager.
[ INFO] [1557260770.095380495, 63.797000000]: Announcing order: order_0

[ INFO] [1557260770.098454918, 63.797000000]: Triggering sensor blackout because 3 products detected.
[ERROR] [1557260777.256803059, 70.556000000]: agv2::kit_tray_2::kit_tray_2::tray: Handle get content service called by: /gazebo
[ERROR] [1557260777.258249433, 70.557000000]: [INFO] AGV 'agv2' delivery triggered
[ INFO] [1557260778.050226088, 71.309000000]: AGV successfully triggered.
[ERROR] [1557260798.074944002, 91.165000000]: agv2::kit_tray_2::kit_tray_2::tray: Handle get content service called by: /gazebo
[ERROR] [1557260798.075904486, 91.166000000]: [INFO] AGV 'agv2' delivery triggered
[ INFO] [1557260798.076735218, 91.166000000]: Order complete: order_0
[ INFO] [1557260798.077830097, 91.167000000]: End of trial. Final score: 9
Score breakdown:
<game_score>
    Total game score: [9]
    Total process time: [27.371]
    Was arm/arm collision?: [0]
<order_score order_0>
    Total order score: [9]
    Completion score: [9]
    Time taken: [27.369]
    Complete: [true]
    Priority: [1]
<shipment_score >
    Completion score: [9]
    Complete: [true]
    Submitted: [true]
    Product presence score: [3]
    All products bonus: [3]
    Product pose score: [3]
    Delivered to correct agv: [true]
</shipment_score>

<shipment_score >
    Completion score: [0]
    Complete: [false]
    Submitted: [true]
    Product presence score: [0]
    All products bonus: [0]
    Product pose score: [0]
    Delivered to correct agv: [true]
</shipment_score>

</order_score>

</game_score>

[ INFO] [1557260798.078050890, 91.167000000]: "order_id","completion_score","priority","time","is_complete","shipments_requested","shipments_submitted","shipments_completed","shipments_wrong_agv"
"order_0",9,1,27.369,1,2,2,1,0

[ INFO] [1557260798.833451443, 91.918000000]: AGV successfully triggered.

[Shane Loretz]

Unable to reproduce