# Actions\_Quiz - GradeBot Failed even though code works correctly **URL:** \ **Category:** ROS Basics In 5 Days (Python)\ **Created:** [September 30, 2024, 5:45am UTC](https://get-help.theconstruct.ai/t/actions-quiz-gradebot-failed-even-though-code-works-correctly/32639 "2024-09-30T05:45:25Z")\ **Posts on this page:** 6\ **Page:** 1
**Author:** ![aryakurian](https://get-help.theconstruct.ai/letter_avatar_proxy/v4/letter/a/2acd7d/32.png) [@aryakurian](https://get-help.theconstruct.ai/u/aryakurian)\ **Post date:** [September 30, 2024, 5:45am UTC](https://get-help.theconstruct.ai/t/actions-quiz-gradebot-failed-even-though-code-works-correctly/32639/1 "2024-09-30T05:45:25Z")
I am taking the actions\_quiz, the drone takes off and lands (without the drone taking off first) correctly in the simulation. However, Gradebot marked the landing as incorrect. The code I have is as follows. ``` #!/usr/bin/env python import rospy import actionlib from actions_quiz.msg import CustomActionMsgAction, CustomActionMsgFeedback from std_msgs.msg import Empty from geometry_msgs.msg import Twist # Import Twist for velocity control class DroneActionServer: def __init__ (self): # Create the action server self._as = actionlib.SimpleActionServer('/action_custom_msg_as', CustomActionMsgAction, self.execute_callback, False) self._as.start() # Publishers for takeoff, landing, and velocity control self.takeoff_pub = rospy.Publisher('/drone/takeoff', Empty, queue_size=1) self.land_pub = rospy.Publisher('/drone/land', Empty, queue_size=1) self.velocity_pub = rospy.Publisher('/cmd_vel', Twist, queue_size=1) # Velocity control publisher self.feedback = CustomActionMsgFeedback() self.rate = rospy.Rate(1) def execute_callback(self, goal): if goal.goal == "TAKEOFF": rospy.loginfo("Taking off...") # Publish Empty message to takeoff topic (if necessary) rospy.sleep(1) self.takeoff_pub.publish(Empty()) # Use velocity control to simulate takeoff by increasing the z-axis velocity takeoff_twist = Twist() takeoff_twist.linear.z = 0.5 # Positive z velocity to go up self.velocity_pub.publish(takeoff_twist) self.feedback.feedback = "Taking off" rospy.sleep(2) # Let the drone ascend for 3 seconds # Stop the drone by setting zero velocity takeoff_twist.linear.z = 0.0 self.velocity_pub.publish(takeoff_twist) elif goal.goal == "LAND": rospy.loginfo("Landing...") # Use velocity control to simulate landing by decreasing the z-axis velocity landing_twist = Twist() landing_twist.linear.z = -0.5 # Negative z velocity to go down rospy.sleep(1) self.velocity_pub.publish(landing_twist) self.feedback.feedback = "Landing" rospy.sleep(6) # Let the drone descend for 3 seconds # Stop the drone by setting zero velocity landing_twist.linear.z = 0.0 self.velocity_pub.publish(landing_twist) # Optionally, publish to land topic (if needed for integration with other nodes) self.land_pub.publish(Empty()) self._as.set_succeeded() if __name__ == ' __main__': rospy.init_node('drone_action_server') DroneActionServer() rospy.spin() ``` The feedback from the gradebot is as attached. ![image](https://get-help.theconstruct.ai/uploads/default/original/2X/b/b25c68962a5090b0dfb32666fbdf58eca686e7e1.png) I can manually see in the simulation that the drone is landing. Kindly advice on why this is happening and how I can fix it. ---
**Author:** ![bayodesegun](https://get-help.theconstruct.ai/user_avatar/get-help.theconstruct.ai/bayodesegun/32/10684_2.png) [@bayodesegun](https://get-help.theconstruct.ai/u/bayodesegun)\ **Post date:** [September 30, 2024, 9:37am UTC](https://get-help.theconstruct.ai/t/actions-quiz-gradebot-failed-even-though-code-works-correctly/32639/2 "2024-09-30T09:37:34Z")
I see that you have two different `DroneActionServer` classes. - Why is that? - Which one are you using? I also see that you are publishing to `/cmd_vel` on one of the classes - were you asked to do this in the quiz? ---
**Author:** ![aryakurian](https://get-help.theconstruct.ai/letter_avatar_proxy/v4/letter/a/2acd7d/32.png) [@aryakurian](https://get-help.theconstruct.ai/u/aryakurian)\ **Post date:** [September 30, 2024, 9:58am UTC](https://get-help.theconstruct.ai/t/actions-quiz-gradebot-failed-even-though-code-works-correctly/32639/3 "2024-09-30T09:58:00Z")
One of the DroneActionServer class was commented which I have now removed it from the code. I am publishing to /cmd\_vel to control the velocity of the drone during takeoff and landing. ---
**Author:** ![bayodesegun](https://get-help.theconstruct.ai/user_avatar/get-help.theconstruct.ai/bayodesegun/32/10684_2.png) [@bayodesegun](https://get-help.theconstruct.ai/u/bayodesegun)\ **Post date:** [September 30, 2024, 10:27am UTC](https://get-help.theconstruct.ai/t/actions-quiz-gradebot-failed-even-though-code-works-correctly/32639/4 "2024-09-30T10:27:16Z")
> [@bayodesegun](#): > > were you asked to do this in the quiz? You should remove the publishing to `/cmd_vel` if it’s not required by the quiz. ---
**Author:** ![aryakurian](https://get-help.theconstruct.ai/letter_avatar_proxy/v4/letter/a/2acd7d/32.png) [@aryakurian](https://get-help.theconstruct.ai/u/aryakurian)\ **Post date:** [September 30, 2024, 11:10am UTC](https://get-help.theconstruct.ai/t/actions-quiz-gradebot-failed-even-though-code-works-correctly/32639/5 "2024-09-30T11:10:59Z")
I fixed the issue, thank you for your help. ---
**Author:** ![system](https://get-help.theconstruct.ai/uploads/default/original/2X/9/9d3ce8305cc0d0d9b6e07d15767a6f245c526f1b.jpeg) [@system](https://get-help.theconstruct.ai/u/system)\ **Post date:** [October 5, 2024, 11:11am UTC](https://get-help.theconstruct.ai/t/actions-quiz-gradebot-failed-even-though-code-works-correctly/32639/6 "2024-10-05T11:11:54Z")
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