{"action":"created","issue":{"url":"https://api.github.com/repos/strands-project/strands_navigation/issues/214","labels_url":"https://api.github.com/repos/strands-project/strands_navigation/issues/214/labels{/name}","comments_url":"https://api.github.com/repos/strands-project/strands_navigation/issues/214/comments","events_url":"https://api.github.com/repos/strands-project/strands_navigation/issues/214/events","html_url":"https://github.com/strands-project/strands_navigation/pull/214","id":65498712,"number":214,"title":"allow for enable/disable of specific recover states at runtime","user":{"login":"bfalacerda","id":4320588,"avatar_url":"https://avatars.githubusercontent.com/u/4320588?v=3","gravatar_id":"","url":"https://api.github.com/users/bfalacerda","html_url":"https://github.com/bfalacerda","followers_url":"https://api.github.com/users/bfalacerda/followers","following_url":"https://api.github.com/users/bfalacerda/following{/other_user}","gists_url":"https://api.github.com/users/bfalacerda/gists{/gist_id}","starred_url":"https://api.github.com/users/bfalacerda/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/bfalacerda/subscriptions","organizations_url":"https://api.github.com/users/bfalacerda/orgs","repos_url":"https://api.github.com/users/bfalacerda/repos","events_url":"https://api.github.com/users/bfalacerda/events{/privacy}","received_events_url":"https://api.github.com/users/bfalacerda/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":6,"created_at":"2015-03-31T16:56:03Z","updated_at":"2015-04-01T12:34:30Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/strands-project/strands_navigation/pulls/214","html_url":"https://github.com/strands-project/strands_navigation/pull/214","diff_url":"https://github.com/strands-project/strands_navigation/pull/214.diff","patch_url":"https://github.com/strands-project/strands_navigation/pull/214.patch"},"body":"needs to be merged with https://github.com/strands-project/strands_recovery_behaviours/pull/44\r\n\r\nsolves https://github.com/strands-project/strands_navigation/issues/185\r\n\r\nThe activation/deactuvation, and number of tries for each state is done using the param server. As an example, when you start monitored_navigation with the strands recovery behaviours you get the following:\r\n\r\n```\r\nstrands@betty:~$ rosparam get /monitored_navigation/recover_states/\r\nbacktrack: [true, 3]\r\nnav_help: [true, .inf]\r\nrecover_bumper: [true, .inf]\r\nrecover_magnetic_strip: [true, .inf]\r\nrecover_stuck_on_carpet: [true, .inf]\r\nsleep_and_retry: [true, 1]\r\n```\r\n\r\nThe first element of the pair is true iff state is active, second element is the number of tries for each state"},"comment":{"url":"https://api.github.com/repos/strands-project/strands_navigation/issues/comments/88462454","html_url":"https://github.com/strands-project/strands_navigation/pull/214#issuecomment-88462454","issue_url":"https://api.github.com/repos/strands-project/strands_navigation/issues/214","id":88462454,"user":{"login":"bfalacerda","id":4320588,"avatar_url":"https://avatars.githubusercontent.com/u/4320588?v=3","gravatar_id":"","url":"https://api.github.com/users/bfalacerda","html_url":"https://github.com/bfalacerda","followers_url":"https://api.github.com/users/bfalacerda/followers","following_url":"https://api.github.com/users/bfalacerda/following{/other_user}","gists_url":"https://api.github.com/users/bfalacerda/gists{/gist_id}","starred_url":"https://api.github.com/users/bfalacerda/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/bfalacerda/subscriptions","organizations_url":"https://api.github.com/users/bfalacerda/orgs","repos_url":"https://api.github.com/users/bfalacerda/repos","events_url":"https://api.github.com/users/bfalacerda/events{/privacy}","received_events_url":"https://api.github.com/users/bfalacerda/received_events","type":"User","site_admin":false},"created_at":"2015-04-01T12:34:30Z","updated_at":"2015-04-01T12:34:30Z","body":"given that https://github.com/strands-project/strands_recovery_behaviours/pull/44 was merged, the system wont work until this is merged"}}