redesign_v2: Fleet adapter stops submitting bids after a submitting a request with an unknown waypoint
cnboonhan opened this issue · 1 comments
cnboonhan commented
Bidding seems to fail after a failed task request due to a unknown waypoint. dispatch_teleop used here but dispatch_loop also fails in a similar way
Steps to reproduce ( redesign_v2 checkout )
exact.repos.txt
ros2 launch rmf_demos_ign office.launch.xml headless:=0 use_sim_time:=true
ros2 run rmf_demos_tasks dispatch_teleop -s tinyrobot1_charger --use_sim_time # Fails: expected, node does not exist on graph
ros2 run rmf_demos_tasks dispatch_teleop -s coe --use_sim_time # Fails: Shouldn't happen
Relevant error msg:
[rmf_traffic_schedule-1] [INFO] [1643860148.068184144] [rmf_traffic_schedule_primary]: Registered participant [1] named [tinyRobot1] owned by [tinyRobot]
[rmf_traffic_schedule-1] [INFO] [1643860148.068444603] [rmf_traffic_schedule_primary]: Registered participant [0] named [tinyRobot2] owned by [tinyRobot]
[full_control-13] [INFO] [1643860148.071741553] [tinyRobot_fleet_adapter]: Added a robot named [tinyRobot1] with participant ID [1]
[full_control-13] [INFO] [1643860148.072869312] [tinyRobot_fleet_adapter]: Added a robot named [tinyRobot2] with participant ID [0]
[ign-15] [INFO] [1643860148.077140341] [slotcar_tinyRobot1]: tinyRobot1 received a path request with 2 waypoints
[ign-15] [INFO] [1643860148.087685428] [slotcar_tinyRobot2]: tinyRobot2 received a path request with 2 waypoints
[ign-15] [INFO] [1643860148.686415904] [slotcar_tinyRobot2]: 1 already received task [tinyRobot2] -- continuing as normal
[rviz2-8] [INFO] [1643860148.878672526] [door_panel_requester_node]: New door [hardware_door] found, refreshing...
[rviz2-8] [INFO] [1643860149.190321531] [door_panel_requester_node]: New door [main_door] found, refreshing...
[rviz2-8] [INFO] [1643860149.592087332] [door_panel_requester_node]: New door [coe_door] found, refreshing...
[rmf_task_dispatcher-11] [INFO] [1643860158.602712412] [rmf_dispatcher_node]: Add Task [compose.dispatch-0] to a bidding queue
[rmf_task_dispatcher-11] [INFO] [1643860158.660400442] [rmf_dispatcher_node]: - Start new bidding task: compose.dispatch-0
[full_control-13] [INFO] [1643860158.660871070] [tinyRobot_fleet_adapter]: [Bidder] Received Bidding notice for task_id [compose.dispatch-0]
[rmf_task_dispatcher-11] [WARN] [1643860160.860728284] [rmf_dispatcher_node]: Dispatcher Bidding Result: task [compose.dispatch-0] has no submissions during bidding. Dispatching failed, and the task will not be performed.
[rmf_task_dispatcher-11] [ERROR] [1643860160.860874642] [rmf_dispatcher_node]: No submission error[1]: waypoint name for Place [co] cannot be found in the navigation graph
[rmf_task_dispatcher-11] [INFO] [1643860164.196081067] [rmf_dispatcher_node]: Add Task [compose.dispatch-1] to a bidding queue
[rmf_task_dispatcher-11] [WARN] [1643860166.260509313] [rmf_dispatcher_node]: Dispatcher Bidding Result: task [compose.dispatch-1] has no submissions during bidding. Dispatching failed, and the task will not be performed.