be_action_server fails and option log_enabled:=True also fails in ros2

[ploncomi]

In ROS2, running ros2 run flexbe_widget be_action_server don't work because a MultiThreadedExecutor is needed, and the goal callback is not properly used (it must be a handle_accepted_callback).

Also using log_enabled:=True causes a fail because a param is not previously defined, and params in ros2 cannot be set "externally" from the command line before the node is running.

I need access to push fixes to these problems in an own branch, and then make a pull request, so the fixes can be reviewed.

[dcconner]

Thanks for the report.

Please tell me what branches you are on and what version of ROS 2.
I think you are correct, given that the be_action_server hasn't been used in a while.

Tell me more about your use case so I can prioritize.

For the log_enabled issue, is that specific to be_action_server, or more general?

To generate a PR, please fork the project and push to your personal fork. Then generate the PR from there.

[ploncomi]

I was working on ros2-devel

The problem with log_enabled is related to launching behavior_onboard.launch.py

I will fork the repo and generate a PR

[ploncomi]

Respect to my use case, I need to run a behavior in ros2 without using the flexbe ui (another gui will be used in the system). The operator is expected to interact only with the provided gui. Then, the be_action_server is useful to me. Also, a working be_action_server can be useful as a guide for writing custom code that interacts with flexbe.

Finally, storing the logs is useful to me for testing the system because the behavior to be used is in development.

Best regards.

[dcconner]

I was looking at this and pondering whipping up a simple GUI for Action client that would let me select from available behaviors and execute. Is this what your GUI does, or is it more involved?

[ploncomi]

The GUI needs to show sensor data (cameras, pointclouds) alongside the operator being able to start the behavior and to select some of the state transitions via buttons (whose that are requested), and showing alerts to the operator.

In other words, it is a very custom GUI specific to the project.

[dcconner]

I rebased your #28 PR and merged as 1810f67