From 9ad94fd1ce3586c61f7f77ded42b9795e9bf714d Mon Sep 17 00:00:00 2001 From: Niko Date: Mon, 18 Mar 2024 18:33:59 +0100 Subject: [PATCH] fixed TaskEvaluation.action --- src/interaction_msgs/action/TaskEvaluation.action | 3 ++- src/interaction_tasks/interaction_tasks/task_node.py | 4 +++- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/src/interaction_msgs/action/TaskEvaluation.action b/src/interaction_msgs/action/TaskEvaluation.action index 1be6510..4a197de 100644 --- a/src/interaction_msgs/action/TaskEvaluation.action +++ b/src/interaction_msgs/action/TaskEvaluation.action @@ -22,4 +22,5 @@ uint16 processed_trajectories --- # Result float32[] new_means # Length: number_of_population * number_of_dimensions * number_of_parameters_per_dimension, this is needed because in case of user input the parameters arent known yet -float32[] score # Length: number_of_population \ No newline at end of file +float32[] score # Length: number_of_population + diff --git a/src/interaction_tasks/interaction_tasks/task_node.py b/src/interaction_tasks/interaction_tasks/task_node.py index 8d623c8..da5c6d5 100644 --- a/src/interaction_tasks/interaction_tasks/task_node.py +++ b/src/interaction_tasks/interaction_tasks/task_node.py @@ -14,7 +14,6 @@ from src.interaction_utils.serialization import flatten_population, unflatten_po from interaction_msgs.action import TaskEvaluation - class TaskNode(Node): def __init__(self): super().__init__('task_node') @@ -112,6 +111,9 @@ class TaskNode(Node): goal_handle.publish_feedback(feedback_msg) if self.state == 'sending_request': + if self.goal_dict == {}: + self.error_trigger() + result_msg.score = self.goal_dict['score'] result_msg.new_means = self.goal_dict['new_means'] break