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Release v0.9.2

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@veerajsk veerajsk released this 26 May 05:30
v0.9.2
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Learn about vigilant mode.

Release Notes

Version v0.9.2 of the ALICA Framework is an orchestrated release that includes three repositories:

  1. alica (this repo)
  2. alica-essentials v0.9.2
  3. alica-supplementary v0.9.2

Changes

Web Based Plan Designer
The engine now supports the web based plan designer (https://github.com/rapyuta-robotics/alica-supplementary/tree/v0.9.2/alica_designer_runtime) which completely replaces the desktop based plan designer & includes considerable improvements with inbuilt debugging support.

Plan Init/Run/Terminate
Plans can now have init/run/terminate functions just like behaviours.

Plan/Behaviour Thread Pool
The plans/behaviours are now executed by a thread pool of configurable size instead of having 1 thread per behaviour.

Ordered Execution of Plans/Behaviours
The engine now enforces a strict order for the execution of init/run/terminate functions of the behaviours & plans. When the engine transitions from one state to the other it is now guaranteed that the plans/behaviours in the outgoing state are terminated before the plans/behaviours in the incoming state are initialized. Further, the parent plan is initialized before its children & terminated after.

Tracing
The engine supports tracing the execution of the plans & behaviours via a pluggable interface & a default open tracing compliant jaeger tracing implementation is provided in alica-supplementary.

Bug-Fixes

  • There was a possibility that a behaviour could access a deleted plan context which is now fixed.
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