Unify observer branches

[marioney]

We have two branches now safety_observer and observers

I'm not sure what are the differences, but I guess we should merge them.

@ipa-hsd any comments?

[hsd-dev]

Can you check this commit? Seems like you added the script, not sure if it is still needed.

[marioney]

No, I don't think we need that script anymore.

I'm not even sure why I created that script. In any case the reasoner should decide when an objective is in error.

[hsd-dev]

Apart from that script, the calculation of safety QA is different. In observers branch it is:

rosgraph_monitor/src/rosgraph_monitor/observers/safety_quality_observer.py

Lines 18 to 44 in 674fc29

	def calculate_attr(self, msgs):
	status_msg = DiagnosticStatus()
	vel_x = msgs[0].twist.twist.linear.x
	vel_y = msgs[0].twist.twist.linear.y
	velocity = sqrt(vel_x ** 2 + vel_y ** 2)
	## We assume a max acceleration of 1 m/s^2
	## The minimum value
	d_break = (velocity)/(0.4)
	# print (d_break)
	normalized_safety=1.0
	if (d_break > msgs[2].data):
	normalized_safety = msgs[2].data/d_break
	#print ("d_break: {0}".format(d_break))
	#print("disntace:{0}".format(msgs[2].data))
	print("normalized safety:{0}".format(normalized_safety))
	status_msg = DiagnosticStatus()
	status_msg.level = DiagnosticStatus.OK
	status_msg.name = self._id
	status_msg.values.append(
	KeyValue("safety", str(normalized_safety)))
	status_msg.message = "QA status"

[marioney]

Apart from that script, the calculation of safety QA is different. In observers branch it is:

I guess those changes need to stay, I'm not sure why I made those, but that's the version we used for the experiments

[hsd-dev]

I guess those changes need to stay

OK in that case, we can cherry-pick that commit into safety_observer branch and delete observers branch.