🔥 remove SuaveReasoner

Author: Rezenders

suave_managing/suave_metacontrol/launch/suave_metacontrol.launch.py

@@ -52,8 +52,8 @@ def generate_launch_description():
         'metacontrol_config.yaml')
 
     mros_reasoner_node = Node(
-        package='suave_metacontrol',
-        executable='suave_reasoner',
+        package='mros2_reasoner',
+        executable='mros2_reasoner_node',
         name='suave_reasoner',
         output='screen',
         parameters=[metacontrol_config, {

suave_managing/suave_metacontrol/setup.py

@@ -26,9 +26,6 @@
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-            'fake_managed_system = ' +
-                'suave_metacontrol.fake_managed_system:main',
-            'suave_reasoner = suave_metacontrol.suave_reasoner:main',
             'task_bridge_metacontrol = ' +
                 ' suave_metacontrol.task_bridge_metacontrol:main',
         ],

suave_managing/suave_metacontrol/suave_metacontrol/suave_reasoner.py

@@ -26,6 +26,8 @@ def __init__(self):
             'inspect_pipeline': ['f_maintain_motion', 'f_follow_pipeline'],
         }
 
+        self.always_improve = ['f_generate_search_path']
+
     def forward_task_request(self, function):
         future = self.send_mros_objective(function)
 
@@ -72,6 +74,9 @@ def send_mros_objective(self, function, nfrs=[]):
             nfr.key = str(required_nfr[0])
             nfr.value = str(required_nfr[1])
             goal_msg.qos_expected.qos.append(nfr)
+
+        goal_msg.qos_expected.always_improve = function in self.always_improve
+
         while not self.mros_action_client.wait_for_server(timeout_sec=1.0):
             self.get_logger().info('waiting for /mros/objective action ...')
         self.get_logger().info(