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making plan pub work fully on GDS #151

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merged 2 commits into from
Feb 27, 2024
Merged

making plan pub work fully on GDS #151

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39c5811
making plan pub work fully on GDS
marinagmoreira Feb 27, 2024
da226b0
fixing ident
marinagmoreira Feb 27, 2024
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61 changes: 20 additions & 41 deletions astrobee/survey_manager/survey_planner/src/survey_planner/command_astrobee.py
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Original file line number Diff line number Diff line change
Expand Up @@ -754,51 +754,30 @@ def survey_manager_executor(args, run, config_static, process_executor, quick: b
command_executor.plan_status_needed = True
command_executor.plan_name = fplan_path.stem

use_astrobee_ops = True
if use_astrobee_ops:
# Use astrobee_ops tool which provides for user interaction
ops_path = get_ops_path()
cmd_path = ops_path / "dock_scripts" / "hsc" / "cmd"
old_env = os.environ.copy()
try:
os.environ["TOPIC_PREFIX"] = cmd_exec_ns

cmd = [str(cmd_path), "-c", "plan", "-load", str(fplan_path)]
exit_code = first_non_zero(
exit_code, process_executor.send_command_recursive(cmd)
)
cmd = [
"rosrun",
"executive",
"plan_pub",
"-compression",
"deflate",
str(fplan_path),
"-remote",
]
cmd.extend(ns)

cmd = [str(cmd_path), "-c", "plan", "-run"]
exit_code = first_non_zero(
exit_code, process_executor.send_command_recursive(cmd)
)
finally:
os.environ.clear()
os.environ.update(old_env)
else:
# Use FSW tools
cmd = [
"rosrun",
"executive",
"plan_pub",
str(fplan_path),
"-remote",
]
cmd.extend(ns)

exit_code = first_non_zero(
exit_code, process_executor.send_command_recursive(cmd)
)
exit_code = first_non_zero(
exit_code, process_executor.send_command_recursive(cmd)
)

if exit_code == 0:
exit_code = first_non_zero(exit_code, command_executor.wait_plan())
if exit_code == 0:
exit_code = first_non_zero(exit_code, command_executor.wait_plan())

exit_code = first_non_zero(exit_code, command_executor.stop_recording())
exit_code = first_non_zero(exit_code, command_executor.stop_recording())

# Ensure robot ends in preferred attitude for its bay.
exit_code = first_non_zero(
exit_code, sm_exec.move(args["base_name"], args["base_name"])
)
# Ensure robot ends in preferred attitude for its bay.
exit_code = first_non_zero(
exit_code, sm_exec.move(args["base_name"], args["base_name"])
)

return exit_code

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