Add manual mower control actions in AreaRecording mode

[olliewalsh]

Previously users would call mower_comms setMowEnabled directly to enable the mower while in AreaRecording mode.
However this should not have been possible since AreaRecording::mower_enabled() always returned false.

mower_logic now confirms that the mower state is as expected, so bypassing it in this way no longer works.

Add actions to toggle AreaRecording::mower_enabled() instead.

[Apehaenger]

Quite thanks for the PR!
mow_enabled was a quite useful service while developing as well during assembly.

Just fetched and compiled, but unfortunately does now work as I expected 😢 (removed GPS messages)

Oct 15 12:43:27 Maehlanie openmower_launch[995]: [ INFO] [1728989007.135884492]: --------------------------------------
Oct 15 12:43:27 Maehlanie openmower_launch[995]: [ INFO] [1728989007.136100108]: - Entered state: AREA_RECORDING
Oct 15 12:43:27 Maehlanie openmower_launch[995]: [ INFO] [1728989007.136308020]: --------------------------------------
Oct 15 12:43:27 Maehlanie openmower_launch[1006]: [ INFO] [1728989007.150932327]: new actions registered: mower_logic:area_recording registered 12 actions.
Oct 15 12:43:27 Maehlanie openmower_launch[995]: [ INFO] [1728989007.154198177]: successfully registered actions for mower_logic:area_recording
Oct 15 12:43:27 Maehlanie openmower_launch[995]: [ INFO] [1728989007.162463657]: Starting recording area
Oct 15 12:43:27 Maehlanie openmower_launch[995]: [ INFO] [1728989007.162636754]: Subscribing to /joy for user input
Oct 15 12:43:34 Maehlanie openmower_launch[949]: [ INFO] [1728989014.247301264]: Setting mow enabled to -1
Oct 15 12:43:34 Maehlanie openmower_launch[995]: [ WARN] [1728989014.412352229]: #### om_mower_logic: setMowerEnabled(0, 0) call
Oct 15 12:43:34 Maehlanie openmower_launch[949]: [ INFO] [1728989014.420841717]: Setting mow enabled to 0
Oct 15 12:43:34 Maehlanie openmower_launch[995]: [ INFO] [1728989014.421100944]: successfully set mower enabled to 0 (direction 0)
Oct 15 12:43:34 Maehlanie openmower_launch[995]: [ WARN] [1728989014.421219798]: #### om_mower_logic: setMowerEnabled(0, 0) call completed within 0.00889661s
Oct 15 12:44:00 Maehlanie openmower_launch[949]: [ INFO] [1728989040.887257250]: Setting mow enabled to 1
Oct 15 12:44:00 Maehlanie openmower_launch[995]: [ WARN] [1728989040.912349533]: #### om_mower_logic: setMowerEnabled(0, 0) call
Oct 15 12:44:00 Maehlanie openmower_launch[949]: [ INFO] [1728989040.920927709]: Setting mow enabled to 0
Oct 15 12:44:00 Maehlanie openmower_launch[995]: [ INFO] [1728989040.921320341]: successfully set mower enabled to 0 (direction 0)
Oct 15 12:44:00 Maehlanie openmower_launch[995]: [ WARN] [1728989040.921570231]: #### om_mower_logic: setMowerEnabled(0, 0) call completed within 0.00920594s
Oct 15 12:44:24 Maehlanie openmower_launch[949]: [ INFO] [1728989064.537098896]: Setting mow enabled to 0

[olliewalsh]

Quite thanks for the PR! mow_enabled was a quite useful service while developing as well during assembly.

Just fetched and compiled, but unfortunately does now work as I expected 😢 (removed GPS messages)

Are you expecting calling the mower_service/mow_enabled service to work? It will, but mower_logic will call it right after you do and turn it off again. Need to call the action from this patch to tell mower_logic to enable mowing instead e.g:
rostopic pub -1 /xbot/action std_msgs/String mower_logic:area_recording/start_manual_mowing

[Apehaenger]

Are you expecting calling the mower_service/mow_enabled service to work? It will, but mower_logic will call it right after you do and turn it off again.

Yip, had expected it 😇

Need to call the action from this patch to tell mower_logic to enable mowing instead e.g: rostopic pub -1 /xbot/action std_msgs/String mower_logic:area_recording/start_manual_mowing

Quite thanks for the command, did not know that before 🤫 and now after checking the sources, I do see.
However, unfortunately does not work as (I) expected.
Mow motor start sometimes for a couple of seconds and then stops again. If it doesn't start on first try, I also wasn't able to start it even with multiple tries.

Is it expected to call the command with a rate i.e. rostopic pub -r 10 ...?

Now, the danger part: When failed to start, exited area-recording and went back to area-recording. That immediately started the mow motor again. This is somehow dangerous when used during assembling 😱
So better set manual_mowing = false; when leaving area-recording?

[olliewalsh]

Mow motor start sometimes for a couple of seconds and then stops again. If it doesn't start on first try, I also wasn't able to start it even with multiple tries.

Safety checks in mower_logic still apply, so if GPS drops I expect it will stop the mower, which might explain this - https://github.com/ClemensElflein/open_mower_ros/blob/main/src/mower_logic/src/mower_logic/mower_logic.cpp#L491

Also may need to keep the mower moving or mower_comms check will stop the mower https://github.com/ClemensElflein/open_mower_ros/blob/main/src/mower_comms/src/mower_comms.cpp#L114

If we want to allow mowing with bad/no GPS might need to create a new behavior class instead of using AreaRecording