bwi_scavenger & bwi_kr_execution: broken dependencies on segbot_gui

[utexas-bwi]

bwi_scavenger & bwi_kr_execution: broken dependencies on segbot_gui

[shiqizhang6]

Thanks, @jack-oquin . I am in the airport now and will be traveling until next Thursday. I will take a look at it later today or tomorrow.

[piyushk]

I have a solution for this already. The bwi_rqt_plugins package is supposed
to replace segbot_gui.
On Aug 9, 2015 5:58 PM, "Shiqi Zhang" [email protected] wrote:

Thanks, @jack-oquin https://github.com/jack-oquin . I am in the airport
now and will be traveling until next Thursday. I will take a look at it
later today or tomorrow.

—
Reply to this email directly or view it on GitHub
#30 (comment)
.

[piyushk]

@shiqizhang6 Please let me know if I should commit the fix. I'm going to change the code to use bwi_rqt_plugins instead of segbot_gui.

[shiqizhang6]

@piyushk I took a close look at this issue yesterday, but found I could not understand the issue. If you have a solution, please go ahead fix it. Thanks.

[jack-oquin]

+1

If that works, it's a good solution.

[jack-oquin]

Included in release 0.3.4

[piyushk]

@jack-oquin I'm not a hundred percent sure if this bug has been entirely solved. I haven't removed the python code dependency on segbot_gui.

[jack-oquin]

I removed the one in the bwi_rqt_plugins setup.py.

Is there another?

[piyushk]

I think this is a different issue report. I thought this issue was tracking the dependency change required in bwi_scavenger and bwi_kr_execution. The issue that you just fixed was #29 .

[jack-oquin]

If you think it's still broken, please re-open.

[jack-oquin]

• bwi_kr_execution has launch file references to segbot components
• bwi_scavenger has Python references to segbot_gui in take_human_input.py.

[jack-oquin]

Those errors do not actually break the build, so I may want to release my other build fixes without waiting for this to be resolved.

Or, is it just a matter of substituting bwi_rqt_plugins for segbot_gui in these lines?

$ grep -r segbot_gui .
./bwi_kr_execution/launch/bwi_turtlebot.launch:  <node name="segbot_gui" pkg="segbot_gui" type="question_dialog_plugin" />
./bwi_kr_execution/launch/robot.launch:  <node name="segbot_gui" pkg="segbot_gui" type="question_dialog_plugin" />
./bwi_scavenger/src/take_human_input.py:import segbot_gui.srv
./bwi_scavenger/src/take_human_input.py:                                segbot_gui.srv.QuestionDialog)
./bwi_scavenger/src/take_human_input.py:                                       segbot_gui.srv.QuestionDialog)

[jack-oquin]

@shiqizhang6, @thomason-jesse: The bwi_scavenger take_human_input.py node also uses the bwi_rlg SemanticParser service, which is in bwi_experimental, and hence cannot be a dependency of bwi_common.

I suppose that service definition should be moved to bwi_msgs. I can easily do that.

But, what about bwi_rlg itself? The service provider will never be present unless bwi_experimental is also in the workspace, but that will never be released, so we cannot release anything depending on it. I just noticed that take_human_input.py does not do a rospy.wait_for_service() on semantic_parser, so it will crash if that service is not available.

I starting trying to patch things up, but finally realized that I don't really understand where we are trying to go with these components. Let's discuss it next Wednesday.

[jack-oquin]

Commit 94bdaf6 added the SemanticParser service definition to bwi_msgs. I have not yet deleted the copy in bwi_rlg, but that should be done. We still need to figure out how to manage that package.

We should move all the message and service definitions to bwi_msgs. It simplifies the dependency graph considerably, and makes them easy to document on the ROS wiki.

I hope the latest version will at least compile on the ROS build farm, so I am releasing version 0.3.6 now.