Populate error_msg for all action result messages (#4341) #4460
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aosmw
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SteveMacenski
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Let me know if you have any questions - but seems like we're covering that in the issue thread instead |
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Sorry for the delay here - it is still draft so it was lower on my priority list while getting Jazzy out. It seems generally complete, but there seems to be a couple of things missing. When might this be ready for a full review?
See below for an initial review of things that jumped out
nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/spin_action.hpp
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I can rip through these fixups today. |
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@aosmw, your PR has failed to build. Please check CI outputs and resolve issues. |
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Builds seem to fail from your additions of the error messages:
Sounds good! In that case, I can give it a full review, I got through about ~half of it yesterday and I can do the other half right now. |
SteveMacenski
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Jul 10, 2024
nav2_docking/opennav_docking_bt/include/opennav_docking_bt/undock_robot.hpp
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nav2_simple_commander/nav2_simple_commander/example_nav_to_pose.py
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aosmw
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Jul 11, 2024
aosmw
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Jul 11, 2024
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Status Report: I am still dog fooding this in my own backport to humble. I am successfully propagating useful error messages to our navigator action clients. Tip for any zenoh users (zenoh-bridge-ros2dds 0.11.0-stable), default actions timeout after 5 seconds and you won't get a result, here is a snippet of zenoh config that may help. I still need to hunt down the exception handling triggering |
That's a classic decoding issue in the BT. I'm guessing you have the wrong type set for the input/output port. All the blackboard and port objects gets stringified to store, so its having a problem with that process. I'd look into the types and make sure that (A) they're types that have conversion functions implemented (or basic types) and (B) you're both setting the port correctly and setting its value to the right type in the BT node. I think we ran into an issue with a couple being wrong, so maybe you just missed one more. Exciting update! Let me know how the dogfooding goes! |
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Finally found the "basic_string: construction from null is not valid" - details of how in the commit message bcb0638 |
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Woof, I see that error, that's an annoying one to find. I'm glad you got that unblocked - copy paste errors can be the worst! Let me know if I'm blocking you :-) |
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You are not blocking me. I am STILL hunting down what I think is a cancellation that gets reported by the navigator action server as an abort. The result error_code = 0 and error_msg is empty. |
…#4341) Signed-off-by: Mike Wake <[email protected]>
Signed-off-by: Mike Wake <[email protected]>
…ion#4341) This was tough to spot. The nav2_system_tests waypoint follower provided a reproducable test Found out how to run just the waypoint_follower test colcon test --packages-select nav2_system_tests --ctest-args -N --event-handler console_direct+ | grep waypoint_follower changed src/navigation2/nav2_bringup/launch/navigation_launch.py to start nav2_bt_navigator Node with + prefix=['gnome-terminal -- gdb -ex run --args'], + respawn=False, Trying to use gdb to catch where the exception was thrown is too slow and the test gives up on itself. I found the relevant throw std::logic_error on my system by writing tiny program and breaking on std::logic_error int main() { const char *a = nullptr; try { std::string b(a); } catch (const std::logic_error &ex) { std::cout << "logic_error:" << ex.what() << std::endl; } catch (const std::exception &ex) { std::cout << "some other type:" << ex.what() << std::endl; } } Turns out it get thrown here on my system /usr/include/c++/11/bits/basic_string.tcc:212 Created ~/.gdbinit set breakpoint pending on break /usr/include/c++/11/bits/basic_string.tcc:212 This specific breakpoint on a line works fast enough for the integration test to throw the 'basic_string::_M_construct null not valid' and the silly initialisation mistake to be found. Signed-off-by: Mike Wake <[email protected]>
…n#4341) Signed-off-by: Mike Wake <[email protected]>
…ion#4341) Signed-off-by: Mike Wake <[email protected]>
Use SFINAE to log get_error_details_if_availble() in ActionT::Result Ideally all Action messages would have error_code and error_msg fields in their Result. BUT the tests use standard messages that do not and will not. i.e. test_msgs/action/Fibonacci.action Some Action messages only have error_code and not error_msg Signed-off-by: Mike Wake <[email protected]>
Signed-off-by: Mike Wake <[email protected]>
Signed-off-by: Mike Wake <[email protected]>
Signed-off-by: Mike Wake <[email protected]>
…uested() (4341)(4602) Signed-off-by: Mike Wake <[email protected]>
Signed-off-by: Mike Wake <[email protected]>
Key point is only use the internal_error_(code|msg)_ if the action result error_code is 0. Signed-off-by: Mike Wake <[email protected]>
…on#4341) Clear output path for ComputePathThroughPoses similar to ComputePathToPose Explicitly note NOT to clear error_code_id and error_msg behavior tree output ports. Otherwise we cannot read them when the navigator reports errors. Signed-off-by: Mike Wake <[email protected]>
…s-navigation#4341) Make it consistent with NavigateThroughPoses. This was introduced when changing logic to remove internal exception. Signed-off-by: Mike Wake <[email protected]>
…ion#4341) Allow of reason for missed waypoint as error_msg. Signed-off-by: Mike Wake <[email protected]>
Include error_msg in reason for missed waypoint Signed-off-by: Mike Wake <[email protected]>
Signed-off-by: Mike Wake <[email protected]>
…ros-navigation#4341) Signed-off-by: Mike Wake <[email protected]>
Signed-off-by: Mike Wake <[email protected]>
…#4341) Signed-off-by: Mike Wake <[email protected]>
…#4341) It was a red herring in search for error_msg clearing bug on abort Signed-off-by: Mike Wake <[email protected]>
…-navigation#4341) Signed-off-by: Mike Wake <[email protected]>
…ion#4341) Signed-off-by: Mike Wake <[email protected]>
…ros-navigation#4341) Signed-off-by: Mike Wake <[email protected]>
Signed-off-by: Mike Wake <[email protected]>
…avigation#4341) Signed-off-by: Mike Wake <[email protected]>
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…avigation#4341) Signed-off-by: Mike Wake <[email protected]>
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This pull request is in conflict. Could you fix it @aosmw? |
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Basic Info
Description of contribution in a few bullet points
First pass at populating error_msg for all action result messages.
Description of documentation updates required from your changes
Adds some new error codes to FollowWaypoints + FollowGPSWaypoints
Future work that may be required in bullet points
For Maintainers: