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consistency of the grounded configuration #102

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chcorbato opened this issue Sep 18, 2020 · 0 comments
Open

consistency of the grounded configuration #102

chcorbato opened this issue Sep 18, 2020 · 0 comments

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@chcorbato
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https://github.com/tud-cor/mc_mros_reasoner/blob/ef4d6f039139a6ef162a7ac71228a8617dff5020/mros1_reasoner/src/mros1_reasoner/ros_reasoner.py#L29

The architectural requirements are:

  • desired_configuration can only be set when deploying the metacontrol application, with the initially grounded configuration
  • grounded_configuration gets automatically updated when the fg proposed by the reasoner is deployed by rosgraph_manipulator

Weneed to update this information consistently
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@chcorbato