Merge branch 'develop'

Author: btalb

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>benchbot_robot_controller</name>
-  <version>2.1.1</version>
+  <version>2.2.1</version>
   <description>The benchbot_robot_controller package</description>
 
   <maintainer email="b.talbot@qut.edu.au">Ben Talbot</maintainer>

requirements.txt

@@ -6,3 +6,4 @@ numpy
 pyyaml
 requests
 scipy
+transforms3d

src/benchbot_robot_controller.py

@@ -36,7 +36,7 @@
 CONN_ROSCACHE_TO_API = 'roscache_to_api'
 CONNS = [CONN_API_TO_ROS, CONN_ROS_TO_API, CONN_ROSCACHE_TO_API]
 
-TIMEOUT_ROS_PING = 0.5
+TIMEOUT_ROS_PING = 5
 TIMEOUT_STARTUP = 9000000000000
 
 VARIABLES = {
@@ -130,6 +130,7 @@ def is_running(self):
                                            s.data_class,
                                            timeout=TIMEOUT_ROS_PING)
             except Exception as e:
+                rospy.loginfo("FAILURE: %s" % e)
                 return False
             return True
 
@@ -385,7 +386,8 @@ def __connection(connection):
             except Exception as e:
                 rospy.logerr(
                     "Robot Controller failed on processing connection "
-                    "'%s' with error:\n%s" % (connection, repr(e)))
+                    "'%s' with error:\n%s\n%s" %
+                    (connection, repr(e), traceback.format_exc()))
                 flask.abort(500)
 
         @robot_flask.route('/is_collided', methods=['GET'])