ExecutionResult is None in DetectObjects ROS Action

[Oberacda]

When using the detect_objects action the ExecutionResult returned by pyrobosim to the pyrobotsim_ros wrapper is None.

[ERROR] [1741771114.873669517] [pyrobosim.action_server]: Error raised in execute callback: 'NoneType' object has no attribute 'status'
Traceback (most recent call last):
  File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/action/server.py", line 333, in _execute_goal
    execute_result = await await_or_execute(execute_callback, goal_handle)
                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 111, in await_or_execute
    return callback(*args)
           ^^^^^^^^^^^^^^^
  File "/delib_ws/install/pyrobosim_ros/lib/python3.12/site-packages/pyrobosim_ros/ros_interface.py", line 663, in robot_detect_objects_callback
    execution_result=execution_result_to_ros(execution_result),
                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/delib_ws/install/pyrobosim_ros/lib/python3.12/site-packages/pyrobosim_ros/ros_conversions.py", line 228, in execution_result_to_ros
    status=getattr(ExecutionStatus, result.status.name),
                                    ^^^^^^^^^^^^^

I think the issue stems from the call to detect_objects in world_canvas.py as this only starts the detection but does not return a result.

[sea-bass]

The function being called is here:

pyrobosim/pyrobosim/pyrobosim/core/robot.py

Line 707 in e7f7d54

def detect_objects(self, target_object: str | None = None) -> ExecutionResult:

I will take a look later, but just sharing this in case you have time to debug before then.

[sea-bass]

I just tested on main by doing

ros2 launch pyrobosim_ros demo.launch.py

Then, I moved the robot manually to a location, after which I did:

ros2 action send_goal /execute_action pyrobosim_msgs/action/ExecuteTaskAction "{action: {robot: robot, type: detect}}"

This ran correctly for me with this output

Result:
    execution_result:
  status: 0
  message: ''

Goal finished with status: SUCCEEDED

---

What was the payload of the action you used so I can maybe try reproduce this on my end and fix the bug?

And... are you on the main version, or other?

[sea-bass]

Wait, I see now! This happens with the /robot/detect_objects action as I forgot to port something over after the big type annotation PR.

ros2 action send_goal /robot/detect_objects pyrobosim_msgs/action/DetectObjects {}

This should fix it -- thanks @Oberacda! #338