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False positives in HazardNotification messages

When Misty is maneuvering out of a hazard state, the system sends a false positive HazardNotification event message as Misty moves away from the hazard. It then sends another event message indicating hazards are clear. This false positive impacts skills that make use of HazardNotification events to programmatically maneuver Misty around her environment.

Expected Behavior:

  • Misty approaches a wall
  • The system stops the robot sends and issues a HazardNotification event message
  • Misty backs away from wall
  • The system issues a HazardNotification event message that hazards are clear.

Actual Behavior:

  • Misty approaches a wall
  • The system stops the robot and issues a HazardNotification event message
  • Misty backs away from wall
  • The system issues another false HazardNotification event message (without stopping the robot)
  • The system issues a HazardNotification event message that hazards are clear