Coding Period Week 13

This week was focused on testing the migration and investigating/resolving issues found.

Work Done

• Began work to replace Aerostack behaviours (takeoff and landing) with simpler API calls
• Worked on the issue with Aerostack unable to fetch transforms from the past, work it around by using system time.
• Another issue was with the drone state not updating when not using behaviours, was resolved by making a ros2 service call.
• Investigated on intermittent drone take off failures in rescue people world.
• Tried to use threading in drone_wrapper.py to resolve the lag in GUI images.
• Resolved issue with the Web console not printing debug messages of user’s code.

Issue pending

• Landing still uses Aerostack behaviour.
• Drone takeoff is rejected intermittently.
• Camera images shown in the gui have the rate too low

Issues Fixed

• https://github.com/JdeRobot/RoboticsAcademy/issues/2223 (under review)
• https://github.com/JdeRobot/RoboticsAcademy/issues/2227
• https://github.com/JdeRobot/RoboticsInfrastructure/issues/314 (in progress)

PRs created / worked on

• https://github.com/JdeRobot/RoboticsAcademy/pull/2228
• https://github.com/JdeRobot/RoboticsInfrastructure/pull/316

Plan for next week

• Update landing code to not use behaviours
• Fix the drone images rate issue
• Investigate on drone takeoff failures
• Wrap up the project