fixed automatic transitions from the parent states

Author: jrgnicho

crs_application/src/crs_executive.cpp

@@ -537,7 +537,10 @@ bool CRSExecutive::setupScanAcquisitionStates()
 
   st_callbacks_map[scan::PARENT] = StateCallbackInfo{
     entry_cb : [this]() -> common::ActionResult { return part_rework_mngr_->hideToolPathsPreview(); },
-    async : false
+    async : false,
+    exit_cb : nullptr,
+    on_done_action : "",
+    on_failed_action: ""
   };
 
   st_callbacks_map[scan::CAPTURE] = StateCallbackInfo{
@@ -547,7 +550,7 @@ bool CRSExecutive::setupScanAcquisitionStates()
 
   st_callbacks_map[scan::MOVE_ROBOT] = StateCallbackInfo{
     entry_cb : std::bind(&task_managers::ScanAcquisitionManager::moveRobot, scan_acqt_mngr_.get()),
-    async : true
+    async : false
   };
 
   st_callbacks_map[scan::VERIFICATION] = StateCallbackInfo{
@@ -587,7 +590,7 @@ bool CRSExecutive::setupPartReworkStates()
     },
     async : true,
     exit_cb : std::bind(&task_managers::PartReworkManager::hideRegions, part_rework_mngr_.get()),
-    on_done_action : action_names::SM_DONE,
+    on_done_action : "",
   };
 
   st_callbacks_map[part_rework::RESET] = StateCallbackInfo{

crs_application/src/task_managers/part_registration_manager.cpp

@@ -228,6 +228,7 @@ common::ActionResult PartRegistrationManager::computeTransform()
 {
   auto remove_part_request = std::make_shared<std_srvs::srv::Trigger::Request>();
   auto remove_result_future = remove_part_tesseract_client_->async_send_request(remove_part_request);
+  RCLCPP_INFO(node_->get_logger(), "REMOVED PART");
 
   common::ActionResult res;
   if (!config_)
@@ -328,7 +329,7 @@ common::ActionResult PartRegistrationManager::applyTransform()
 
   // calling load part service
   auto result_future = load_part_tesseract_client_->async_send_request(load_part_request);
-
+  RCLCPP_INFO(node_->get_logger(), "ADDED PART");
   return true;
 }
 

crs_application/src/task_managers/scan_acquisition_manager.cpp

@@ -187,6 +187,7 @@ common::ActionResult ScanAcquisitionManager::moveRobot()
   freespace_motion_request->goal_pose = scan_poses_.at(scan_index_);
   freespace_motion_request->execute = true;
 
+
   auto result_future = call_freespace_motion_client_->async_send_request(freespace_motion_request);
 
   std::future_status status = result_future.wait_for(std::chrono::duration<double>(WAIT_MOTION_COMPLETION));

crs_motion_planning/src/path_processing_utils.cpp

@@ -1108,7 +1108,6 @@ crs_motion_planning::filterSingularityCylinder(const geometry_msgs::msg::PoseArr
       filtered_waypoints.push_back(filtered_raster);
       filtered_raster.poses.clear();
     }
-    std::cout << std::endl;
   }
   if (filtered_raster.poses.size() > 0)
   {