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Published 2 months ago • verified publisher icon RobotecAI

Internal rai ros2 interfaces are visible to `RaiNode`

Open boczekbartek opened this issue 1 year ago • 1 comments

Describe the bug perform_task topic is visible for RaiNode

To Reproduce See above.

Screenshots image

Expected behavior RaiNode should not see the rai interfaces when it checks the environment. It can lead to unexpected behaviors. Only robot interfaces should be visible

Version 0.9.0-beta

boczekbartek avatar Sep 24 '24 08:09 boczekbartek

Add a filter to its tool. Hiding topics is not good as it would affect the users. But, use hidden topics for what you want RAI to use, but the user never should.

adamdbrw avatar Sep 24 '24 08:09 adamdbrw

We've got a feature for that, e.g. passing forbidden topics to ROS2 tools.https://github.com/RobotecAI/rai/blob/e308a550bf0b92a4ef1ad904c51619cb4351933d/src/rai_core/rai/tools/ros2/base.py#L39-L42

maciejmajek avatar Apr 17 '25 15:04 maciejmajek