Waypoints with invalid pose

[jim-v]

If a waypoint is set when the robot location is unknown, then no-error is reported, but when asked to go to that waypoint, RobotCommander sends the following goal:

header:
seq: 16
stamp:
secs: 0
nsecs: 0
frame_id: ''
goal_id:
stamp:
secs: 0
nsecs: 0
id: goal_0.06402862432775747_1494305466006
goal:
target_pose:
header:
seq: 0
stamp:
secs: 1494305466
nsecs: 619306087
frame_id: /map
pose:
position:
x: 0.0
y: 0.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 0.0

[jrlandau]

So what is the desired Robot Commander behavior? Is it that if x=y=z=0 then show an error message and do not save the waypoint?

…

On Mon, May 8, 2017 at 9:54 PM, Jim Vaughan ***@***.***> wrote: If a waypoint is set when the robot location is unknown, then no-error is reported, but when asked to go to that waypoint, RobotCommander sends the following goal: header: seq: 16 stamp: secs: 0 nsecs: 0 frame_id: '' goal_id: stamp: secs: 0 nsecs: 0 id: goal_0.06402862432775747_1494305466006 goal: target_pose: header: seq: 0 stamp: secs: 1494305466 nsecs: 619306087 frame_id: /map pose: position: x: 0.0 y: 0.0 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#3>, or mute the thread <https://github.com/notifications/unsubscribe-auth/ADxmjJadhlUmzdcDOH-XY58eJGaKei6Hks5r3_F-gaJpZM4NU0Xy> .

[jim-v]

There should be an exception thrown if the current pose can't be determined. You should be able to catch that and give the user an error message that the waypoint can't be saved because the robot's position is not known.
x=0=y=0 is a valid position, but the quaternion with all elements set to 0 is not valid.

[rohbotics]

I think If there is no pose data available, it shoudn't default to 0s, it should error when setting the waypoint

Regardless, It shouldn't send an invalid goal
The orientation is a quaternion and

x: 0.0
y: 0.0
z: 0.0
w: 0.0

is not a valid quaternion
The valid quaterion for zero is

x: 0.0
y: 0.0
z: 0.0
w: 1.0

[jrlandau]

For testing purposes, how to provoke this situation? On magni George, or on Stage?

…

On Mon, May 8, 2017 at 10:23 PM, Rohan Agrawal ***@***.***> wrote: I think If there is no pose data available, it shoudn't default to 0s, it should error when setting the waypoint Regardless, It shouldn't send an invalid goal The orientation is a quaternion and x: 0.0 y: 0.0 z: 0.0 w: 0.0 is not a valid quaternion The valid quaterion for zero is x: 0.0 y: 0.0 z: 0.0 w: 1.0 — You are receiving this because you were assigned. Reply to this email directly, view it on GitHub <#3 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/ADxmjKEzm6ddibi-wxtl4J3w9E6h6tByks5r3_hSgaJpZM4NU0Xy> .

[davecrawley]

Agree, invalid pose should draw human attention to the error. (Poka-yoke)

[jim-v]

On a robot, don't run localization, or cover the camera, or turn the lights off, then set a waypoint.

[jrlandau]

If an invalid pose is received, the error is caught and a response is given to the user informing her. If a pose is requested and it is never received, the failure is silent.