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mros-hands-on's Issues

Build error when following README

There seem to be a problem with the nav2_msgs package installed because of the first instruction to install some required packages:
$ sudo apt install ros-foxy-slam-toolbox ros-foxy-gazebo-ros-pkgs python3-vcstool

Isn't that colliding with the sources for navigation2 in the ws?

$ sudo apt install ros-foxy-slam-toolbox ros-foxy-gazebo-ros-pkgs python3-vcstool
$ cd [ros2_ws]/src
$ wget https://raw.githubusercontent.com/MROS-RobMoSys-ITP/MROS-Hands-On/main/mros-hands-on.repos
$ vcs import < mros-hands-on.repos
$ cd ..
$ rosdep install -y -r -q --from-paths src --ignore-src --rosdistro foxy --skip-keys="turtlebot2_drivers map_server $ astra_camera amcl"
$ colcon build --symlink-install
[...]
--- stderr: nav2_map_server                  
In file included from /opt/ros/foxy/include/nav2_msgs/srv/load_map.hpp:9,
                 from /home/parallels/handson_ws/src/navigation2/nav2_map_server/include/nav2_map_server/map_server.hpp:26,
                 from /home/parallels/handson_ws/src/navigation2/nav2_map_server/test/unit/test_map_io.cpp:45:
/opt/ros/foxy/include/nav2_msgs/srv/detail/load_map__traits.hpp:23:25: error: expected initializer before ‘<’ token
   23 | inline const char * name<nav2_msgs::srv::LoadMap_Request>()
      |                         ^
/opt/ros/foxy/include/nav2_msgs/srv/detail/load_map__traits.hpp:56:25: error: expected initializer before ‘<’ token
   56 | inline const char * name<nav2_msgs::srv::LoadMap_Response>()
      |                         ^
/opt/ros/foxy/include/nav2_msgs/srv/detail/load_map__traits.hpp:85:25: error: expected initializer before ‘<’ token
   85 | inline const char * name<nav2_msgs::srv::LoadMap>()
      |                         ^
make[2]: *** [test/unit/CMakeFiles/test_map_io.dir/build.make:63: test/unit/CMakeFiles/test_map_io.dir/test_map_io.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:364: test/unit/CMakeFiles/test_map_io.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< nav2_map_server [39.5s, exited with code 2]
Aborted  <<< nav2_behavior_tree [3min 20s]                                           

Summary: 13 packages finished [6min 25s]
  1 package failed: nav2_map_server
  1 package aborted: nav2_behavior_tree
  3 packages had stderr output: dynamixel_sdk hls_lfcd_lds_driver nav2_map_server
  44 packages not processed

[rviz2-1] [ERROR] [1606145303.031461074] [rviz2]: FollowWaypoints action server is not available. Is the initial pose set?

Following the instructions in https://github.com/MROS-RobMoSys-ITP/MROS-Hands-On sometimes I get this error in the navigation2 terminal:

[rviz2-1] [ERROR] [1606145303.031461074] [rviz2]: FollowWaypoints action server is not available. Is the initial pose set?

And sending a Navigation2 Goal on RViz does not result in any observed behavior in the robot.
I am using:
mc_mros_reasoner: foxy_multi_model_files
Pilot-URJC: metacontrol-test-integration

System modes rules branch no available

Following the instructions on the README. When doing: vcs import < mros-hands-on.repos I get the following error:
=== ./utils/system_modes (git) ===
Could not checkout ref 'feature/rules': fatal: invalid reference: feature/rules

Changing to master branch I think is OK as the System Modes master branch has a README with the following:

The Error Handling and Rules feature is still experimental and might be subject to major changes. However, if no rules are specified in the model file, this feature is not used.

I will test it and keep you informed.

Cannot reproduce recovery from laser failure

Following the instructions in https://github.com/MROS-RobMoSys-ITP/MROS-Hands-On
When I click on "Inject all-zero..." navigation stop and the robot tfs fade from RViz, but nothing changes in the output of the reasoner and I get the following in the simulation terminal:

[gzserver-1] [INFO] [1606145891.763695294] [turtlebot3_joint_state]: Going to publish joint [wheel_left_joint]
[gzserver-1] [INFO] [1606145891.763779137] [turtlebot3_joint_state]: Going to publish joint [wheel_right_joint]
[pointcloud_to_laserscan_managed-5] [INFO] [1606145896.717860733] [pointcloud_to_laser]: Got a subscriber to laserscan, starting pointcloud subscriber
[mode_manager-3] [INFO] [1606145900.464317275] [__mode_manager]: -> callback change_mode of pilot to f_normal_mode
[mode_manager-3] [INFO] [1606145900.464866588] [__mode_manager]:  changing mode of pilot to f_normal_mode
[mode_manager-3] [INFO] [1606145900.465391325] [__mode_manager]:  changing state of amcl: activate
[mode_manager-3] [INFO] [1606145900.465806263] [__mode_manager]:  changing mode of amcl to __DEFAULT__
[mode_manager-3] [INFO] [1606145900.470300998] [__mode_manager]:  changing state of bt_navigator: activate
[mode_manager-3] [INFO] [1606145900.476348392] [__mode_manager]:  changing mode of bt_navigator to __DEFAULT__
[mode_manager-3] [INFO] [1606145900.477779093] [__mode_manager]:  changing state of controller_server: activate
[mode_manager-3] [INFO] [1606145900.478400889] [__mode_manager]:  changing mode of controller_server to __DEFAULT__
[mode_manager-3] [INFO] [1606145900.478962330] [__mode_manager]:  changing state of laser_resender: activate
[mode_manager-3] [INFO] [1606145900.479749291] [__mode_manager]:  changing mode of laser_resender to __DEFAULT__
[mode_manager-3] [INFO] [1606145900.480375736] [__mode_manager]:  changing state of pointcloud_to_laser: deactivate
[mode_manager-3] [WARN] [1606145900.485560055] [__mode_manager]: Deviation detected in system or part 'bt_navigator': should be active.__DEFAULT__, but is configuring.
[mode_manager-3] [WARN] [1606145900.486201452] [__mode_manager]: Deviation detected in system or part 'bt_navigator': should be active.__DEFAULT__, but is configuring.
[mode_manager-3] [WARN] [1606145900.486693798] [__mode_manager]: Deviation detected in system or part 'bt_navigator': should be active.__DEFAULT__, but is configuring.
[pointcloud_to_laserscan_managed-5] [WARN] [1606145900.487845229] [rcl_lifecycle]: No transition matching deactivate found for current state inactive
[laser_resender_node-6] [INFO] [1606145900.488716101] [laser_resender]: [laser_resender] Activating from [inactive] state...
[mode_manager-3] [WARN] [1606145900.491606757] [__mode_manager]: Deviation detected in system or part 'bt_navigator': should be active.__DEFAULT__, but is configuring.
[mode_manager-3] [WARN] [1606145900.492819800] [__mode_manager]: Deviation detected in system or part 'bt_navigator': should be active.__DEFAULT__, but is configuring.
[mode_manager-3] [WARN] [1606145900.494656788] [__mode_manager]: Deviation detected in system or part 'bt_navigator': should be active.__DEFAULT__, but is configuring.
[mode_manager-3] [WARN] [1606145900.495664651] [__mode_manager]: Deviation detected in system or part 'bt_navigator': should be active.__DEFAULT__, but is configuring.
...

I am using:
mc_mros_reasoner: foxy_devel
Pilot-URJC: metacontrol-test-integration

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