The reasoner doesn't work with 'high' reasoning rates

[Rezenders]

The reasoner doesn't work with 'high' reasoning rates

[Rezenders]

[pipeline_inspection_reasoner-1] [ERROR] [1673533577.337098677] [pipeline_inspection_reasoner]: Error in perform_reasoning: 'NoneType' object is not subscriptable

This error is also happening with lower rates, but less frequently. Unfortunately, I don't have any more info.
My guess is that is has something to do with reading/writing from/to the ontology.

[Rezenders]

[pipeline_inspection_reasoner]: In Analyze, exception returned: 'NoneType' object is not subscriptable

[alexander-gabriel]

This looks like a concurrency error.
That should be easy enough to test.

If it is a concurrency error, there is some guidance:

https://owlready2.readthedocs.io/en/latest/sync.html?highlight=concurrent#synchronization
says:

1. Open the quadstore in non-exclusive mode (exclusive = False in set_backend()).
2. Perform each modification to an ontology inside a “with ontology:” block. Owlready maintain a lock for each quadstore, which prevents multiple writes at the same time. Thus, for improving performances, you should also avoid long computation inside “with ontology:” blocks.
3. Call World.save() at the end of each “with ontology:” block, in order to commit the changes to the quadstore database.

that means you'd have to adjust

mc_mros_reasoner/mros2_reasoner/mros2_reasoner/tomasys.py

Line 18 in 50a67fb

def load_kb_from_file(kb_file):

like so

world = World()
world.set_backend(filename = "/path/to/your/file.sqlite3", exclusive = False)

and also adjust the the rest that accesses the backend according to points 2 and 3...

[alexander-gabriel]

that still would not allow you to run the thing faster though, just with more waiting and fewer bugs.

Regardless of whether or not your current problem is caused by concurrency...in the context of ROS that's always a problem. So this should be concurrency safe anyway.