Cannot save behavior (Inconsistent paths!)

[y-masutani]

I just started using WebUI.

I created a project by running the following

ros2 run flexbe_widget create_repo foobar

After colcon build; source install/setup.bash, I launched WebUI by running the following

ros2 launch flexbe_webui flexbe_full.launch.py

Next I loaded the Example Behavior and confirmed it to work.

However, when I change the arrangement in the Statemachine Editor and click "Save Behavior" in Runtiem Control, I get an error as shown in the image.

It is said that the behavior Python file path and the manifest XML file path are inconsistent, so I checked them and found the paths are as follows.

• /home/masutani/test_ws/install/foobar_flexbe_behaviors/local/lib/python3.10/dist-packages/foobar_flexbe_behaviors/example_behavior _sm.py
• /home/masutani/test_ws/install/foobar_flexbe_behaviors/lib/foobar_flexbe_behaviors/manifest/example_behavior.xml

There must be a problem with the path checking.

[dcconner]

I presume you are using Humble as it uses the "local/lib" path. Iron and Jazzy don't have that, and I've been testing in Iron lately so missed that when I added the validate_path_consistency method to tools.py in the flexbe_webui folder.

Just have that function return True, or add 'local' to the possible checks.

I think that we may want to change https://github.com/FlexBE/flexbe_webui/blob/beta/flexbe_webui/tools.py#L43
to be

if ndx > 2 and (python_path_elements[ndx - 1] == 'lib' or manifest_path_elements[ndx - 1] == 'share' or python_path_elements[ndx] == 'local'):

to work with Humble.

I would appreciate if you'd be willing to make the change and test.

On a related note, the copy_behavior scripts are out of date for Iron and Jazzy as it still includes the local path.

I need to create a special Humble branch for projects and update create_repo to pull from there.

We are still actively developing this flexbe_webui for the next few weeks, so I don't want to create separate branches for Humble, Iron, and Jazzy until we are ready for the "official" release, so I will ask users to make the above fix to validate_path_consistency if they are using Humble.

[MrKeith99]

I am also testing FlexBE WebUI in ROS2 Humble, and facing the same trouble with PATH inconsistency.

I have already tried this solution in the tools.py (l43).

However, it seems that updates in webui_server.py and behavior_library.py in FlexBe Behavior Engine are also required.

• For webui_server.py (L432 & L582):

- folder_path = os.path.join(package.path, 'lib', behavior.behavior_package, 'manifest')
+ folder_path = os.path.join(package.path, 'local/lib/python3.10/dist-packages', behavior.behavior_package, 'manifest')

• For behavior_library.py (L70):

- self._add_behavior_manifests(os.path.join(pkg_path, 'lib', pkg_name, 'manifest'), pkg_name)
+ self._add_behavior_manifests(os.path.join(pkg_path, 'local/lib/python3.10/dist-packages', pkg_name, 'manifest'), pkg_name)

@dcconner , what do you think about this? Is there any other proper solution?

[y-masutani]

Thanks for your reply.

Yes, I am using Humble. I rewrote tools.py as you wrote, and now the error no longer occurs.

Since I will still continue to use Humble for some years, I would be very happy if you support Humble as well.

[dcconner]

@MrKeith99 We have stored the manifests in a different folder from the python scripts.
So I believe the use in manifest folders is consistent without change. It will create a different folder, but does so consistently.

While one fix to the path consistency issue might be to move the manifest packages, I suggest not doing that.