{"action":"created","issue":{"url":"https://api.github.com/repos/strands-project/aaf_deployment/issues/315","repository_url":"https://api.github.com/repos/strands-project/aaf_deployment","labels_url":"https://api.github.com/repos/strands-project/aaf_deployment/issues/315/labels{/name}","comments_url":"https://api.github.com/repos/strands-project/aaf_deployment/issues/315/comments","events_url":"https://api.github.com/repos/strands-project/aaf_deployment/issues/315/events","html_url":"https://github.com/strands-project/aaf_deployment/pull/315","id":142082317,"number":315,"title":"Walking group map interface","user":{"login":"cdondrup","id":4293484,"avatar_url":"https://avatars.githubusercontent.com/u/4293484?v=3","gravatar_id":"","url":"https://api.github.com/users/cdondrup","html_url":"https://github.com/cdondrup","followers_url":"https://api.github.com/users/cdondrup/followers","following_url":"https://api.github.com/users/cdondrup/following{/other_user}","gists_url":"https://api.github.com/users/cdondrup/gists{/gist_id}","starred_url":"https://api.github.com/users/cdondrup/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/cdondrup/subscriptions","organizations_url":"https://api.github.com/users/cdondrup/orgs","repos_url":"https://api.github.com/users/cdondrup/repos","events_url":"https://api.github.com/users/cdondrup/events{/privacy}","received_events_url":"https://api.github.com/users/cdondrup/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":26,"created_at":"2016-03-19T17:06:30Z","updated_at":"2016-03-21T18:07:44Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/strands-project/aaf_deployment/pulls/315","html_url":"https://github.com/strands-project/aaf_deployment/pull/315","diff_url":"https://github.com/strands-project/aaf_deployment/pull/315.diff","patch_url":"https://github.com/strands-project/aaf_deployment/pull/315.patch"},"body":"This PR introduces the most important changes from #288 \r\n\r\n**New features:**\r\n\r\n* The Therapist interface has been redesigned to make the back buttons more obvious and to show that the waypoint selection is now done via a map\r\n\r\n ![guide_interface](https://cloud.githubusercontent.com/assets/4293484/13904360/f34b1cc0-ee95-11e5-8a04-c979fd9a0999.png)\r\n\r\n\r\n* Waypoints can now be reached by either just pressing the \"Weiter\" button or by selecting them from the map by pressing one of the little \"Rast\" buttons. The robot will then figure out where in the tour it is and which waypoints to traverse in between using *Magic*, i.e. a lot of topological rout planning and reasoning I don't expect any one to understand or even wanting to try to. The button in the bottom right is the back button.\r\n\r\n ![map](https://cloud.githubusercontent.com/assets/4293484/13899960/b210a39a-edf2-11e5-899d-dd0248495afb.png)\r\n\r\n* When a resting area is reached the therapist will still be asked if they really want to rest and if they confirm this, a very abstract map of the resting area is shown on which each button represents a chair and by pressing it the robot will move there for the duration of the rest. Below the \"map\" for the \"Ambulanz\" and the view in rviz showing how this looks for the robot.\r\n\r\n ![ambulanz](https://cloud.githubusercontent.com/assets/4293484/13899983/2c04cdf2-edf3-11e5-9c26-9ba8366ed345.png)\r\n\r\n ![ambulanz_riz](https://cloud.githubusercontent.com/assets/4293484/13899989/4633f054-edf3-11e5-93cc-c222dd9b744d.png)\r\n\r\n All these nodes use localise by topic, so only if the correct node name is published on `/aaf_walking_group/resting_node` and the robot reached the correct position, it will be localised as being there. This should prevent any nastiness with the MDP planning. Needs https://github.com/strands-project/strands_navigation/pull/299 merged.\r\n The correct nodes are identified using tags, i.e. WayPoint92 has the tag `ambulanz0` which is encoded in the map for the therapists and will be used to find this node. The node name is therefore looked up and essentially irrelevant. Only the tag has to be named correctly and exist.\r\n* The deployment control node now also offers the service `/deployment_control/show_maintenance` and `/deployment_control/hide_maintenance` which when triggered show a generic mantenance and out of order message for feedback to the therapists or anyone in general. This uses @marc-hanheide 's dialogue boxes. The service will be triggered by the person observing the walking group remotely from Lincoln. Sadly, there is no way of relying on the robot to display that it broke. Depending on what broke this might not be possible at all but at least this is an option of feedback to the therapists.\r\n* Updated the recording white list with all the new resting nodes. The actual topological map needs a bit of love from @Jailander to be able to be used on the robot and will be tested on Monday.\r\n\r\nPR also includes some bug fixes."},"comment":{"url":"https://api.github.com/repos/strands-project/aaf_deployment/issues/comments/199406715","html_url":"https://github.com/strands-project/aaf_deployment/pull/315#issuecomment-199406715","issue_url":"https://api.github.com/repos/strands-project/aaf_deployment/issues/315","id":199406715,"user":{"login":"marc-hanheide","id":1153084,"avatar_url":"https://avatars.githubusercontent.com/u/1153084?v=3","gravatar_id":"","url":"https://api.github.com/users/marc-hanheide","html_url":"https://github.com/marc-hanheide","followers_url":"https://api.github.com/users/marc-hanheide/followers","following_url":"https://api.github.com/users/marc-hanheide/following{/other_user}","gists_url":"https://api.github.com/users/marc-hanheide/gists{/gist_id}","starred_url":"https://api.github.com/users/marc-hanheide/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/marc-hanheide/subscriptions","organizations_url":"https://api.github.com/users/marc-hanheide/orgs","repos_url":"https://api.github.com/users/marc-hanheide/repos","events_url":"https://api.github.com/users/marc-hanheide/events{/privacy}","received_events_url":"https://api.github.com/users/marc-hanheide/received_events","type":"User","site_admin":false},"created_at":"2016-03-21T18:07:43Z","updated_at":"2016-03-21T18:07:43Z","body":"I suppose we still don't merge this, or do we?"}}