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[FEA] Allow deactivating nodes when system is activated. #96
Description
There is a need to selectively disable the function of a node, that's say deactivating a node in a certain system mode.
Should the following config work? Thanks!
SHM file
---
# system modes example
---
actuation:
ros__parameters:
type: system
parts:
drive_base
left/manipulator
right/manipulator
modes:
__DEFAULT__:
drive_base: active.__DEFAULT__
left/manipulator: inactive.__DEFAULT__
right/manipulator: inactive.__DEFAULT__
LEFT:
# drive_base: active.__DEFAULT__
left/manipulator: active.__DEFAULT__
right/manipulsator: inactive.__DEFAULT__
RIGHT:
# drive_base: active.__DEFAULT__
left/manipulator: inactive.__DEFAULT__
right/manipulator: active.__DEFAULT__
left/manipulator:
ros__parameters:
type: node
modes:
__DEFAULT__:
ros__parameters:
max_torque: 0.1
drive_base:
ros__parameters:
type: node
modes:
__DEFAULT__:
ros__parameters:
max_speed: 0.1
controller: PID
right/manipulator:
ros__parameters:
type: node
modes:
__DEFAULT__:
ros__parameters:
max_torque: 0.11
step to reproduce
zs@zs-vm-2204:~/zs_ws/ga_ros$ ros2 service call /actuation/change_state lifecycle_msgs/ChangeState "{transition: {id: 1, label: configure}}"
waiting for service to become available...
requester: making request: lifecycle_msgs.srv.ChangeState_Request(transition=lifecycle_msgs.msg.Transition(id=1, label='configure'))
response:
lifecycle_msgs.srv.ChangeState_Response(success=True)after this ,all nodes become OK
zs@zs-vm-2204:~/zs_ws/ga_ros$ ros2 service call /actuation/change_state lifecycle_msgs/ChangeState "{transition: {id: 3, label: activate}}"
requester: making request: lifecycle_msgs.srv.ChangeState_Request(transition=lifecycle_msgs.msg.Transition(id=3, label='activate'))
response:
lifecycle_msgs.srv.ChangeState_Response(success=True)after this , every thing OK
zs@zs-vm-2204:~/zs_ws/ga_ros$ time ros2 service call /actuation/change_mode system_modes_msgs/ChangeMode "{mode_name: 'LEFT'}"
waiting for service to become available...
requester: making request: system_modes_msgs.srv.ChangeMode_Request(mode_name='LEFT')
after this, the mode_manager died with a segfault.
EDIT: @ralph-lange
the step of reproduce is updated in 2022-11-12.
Activity
ralph-lange commentedon Nov 3, 2022
At first glance, this should work. You make even simply write
drive_base: activeinstead ofdrive_base: active.__DEFAULT__(as inright/manipulator: active). Did you experience any problems with this configuration?ZhenshengLee commentedon Nov 4, 2022
@ralph-lange thank you for your fast reply!
In currently design, In any specific MODE(MODERATE and PERFORMANCE), all node must be in ACTIVE state, if any of the nodes become INACTIVE, the mode_inference will think the MODE is in DEACTIVATING state
I will repeat the test and give more details.