Not getting factsheet when publishing instantAction factsheetRequest

[ainhoaarnaiz]

Hi,
I am trying to retrieve the factsheet of the turtlebot 3 because I would like to see an actual example of it. However, when publishing the instant action factsheetRequest, I get an error. I am unsure if I have added all the needed parameters and if they are correct:

{
"version": "2.0.0",
"manufacturer": "OSRF",
"serialNumber": "TB3_1",
"actions": [
{
"actionType": "factsheetRequest",
"actionId": "'$(cat /proc/sys/kernel/random/uuid)'",
"blockingType": "NONE",
"actionParameters": []
}
]
}

This is the error I get:

Any clue? Thank you very much!

[leandropineda]

Hi @aarnaizl.

The factsheet should be published, see https://github.com/inorbit-ai/ros_amr_interop/blob/galactic-devel/vda5050_connector/vda5050_connector/vda5050_controller.py#L713. I think the issue is with the action ID. From the screenshot you shared I can see that the action id is '$(cat /proc/sys/kernel/random/uuid)', but it should be an UUID. Do you get the same error after fixing that?

[ainhoaarnaiz]

Hi @leandropineda
So I have taken a closer look at the error and decided to change this part of the tb3_adapter.py from this:

vda5050_adapter_examples/vda5050_tb3_adapter/vda5050_tb3_adapter/tb3_adapter.py

Lines 96 to 100 in 230d173

	self.supported_actions_srv = self.create_service(
	SupportedActions,
	base_interface_name + self._supported_actions_svc_srv,
	lambda _: self.get_logger().info("Supported actions request"),
	)

to this:

self.supported_actions_srv = self.create_service(
   srv_type=SupportedActions,
   srv_name=base_interface_name + self._supported_actions_svc_srv,
   callback=self.get_supported_actions_callback,
)

and created a simple callback function:

def get_supported_actions_callback(self, request, response):
    lambda _: self.get_logger().info("Supported actions request")
    return response

After fixing this, I have noticed that when factsheetRequest is published, the factsheet is not published in MQTT under the topic /uagv/v1/OSRF/TB3_1/factsheet or anything similar. Instead, I had previously run the command ros2 topic echo /uagv/v1/OSRF/TB3_1/factsheet on a new terminal and was able to see it there. Here is the output:

header_id: 1
timestamp: '2023-06-29T11:26:21.801Z'
version: 2.0.0
manufacturer: OSRF
serial_number: TB3_1
type_specification:
  series_name: robot_number
  series_description: ''
  agv_kinematic: OMNI
  agv_class: CARRIER
  max_load_mass: 0.0
  localization_types:
  - REFLECTOR
  navigation_types:
  - AUTONOMOUS
physical_parameters:
  speed_min: 0.0
  speed_max: 0.0
  acceleration_max: 0.0
  deceleration_max: 0.0
  height_min: 0.0
...

However, I am unsure if this is the expected output. Is it intended to publish the message only on the ROS2 topic /uagv/v1/OSRF/TB3_1/factsheet? Or should it also be published to MQTT?

Here is a screenshot of the execution (something similar happens with stateRequest):

[sampreets3]

Hi @leandropineda,

Do you have a sample factsheet JSON document? I would like to verify if my factsheet is a valid message or not.

Thanks!

[leandropineda]

I don't @sampreets3 unfortunately. But I think you should be able to verify it by using any jsonschema validator and the schema provided on the standard

[sampreets3]

No problem, @leandropineda . It seems like a lot of applications don't yet make use of the factsheet. Thanks a lot!