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Robot enters lift without session when its ongoing task was cancelled and assigned with another task #389

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mxgrey opened this issue Oct 25, 2024 · 0 comments · Fixed by #393
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mxgrey commented Oct 25, 2024

Discussed in open-rmf/rmf#549

Originally posted by cwrx777 October 26, 2024
open-rmf release: iron 20231229

Issue summary: robot does enters lift without having lift session if while waiting for lift, robot current task is cancelled and assigned with another task.

Building yaml: hotel.building.yaml
Difference with original building yaml:

  1. remove lane to Lift2. This is so that only Lift1 is used.
  2. use unidirectional lanes to enter and exit Lift1
    image

Robot starting position is set by using spawn_entity.launch.xml and robotplacer.launch.xml
Task is dispatched by using this modified dispatch_patrol.py

lift_session_issue_20241025.mp4

Initial position:
tinyBot_1 is at Lift_LWP_L1 and tinyBot_2 is at Lift1_LWP_L2.
First, send tinyBot_2 to a location at L1.

ros2 run rmf_demos_tasks dispatch_patrol -F tinyRobot -R tinyBot_2 -p restaurant --use_sim_time -id task_1;

Then, a moment later, send tinyBot_1 to a location on L2. This is to make tinyBot_1 to keep requesting for the lift.

sleep 5;
ros2 run rmf_demos_tasks dispatch_patrol -F tinyRobot -R tinyBot_1 -p L2_room15 --use_sim_time -id task_2;

(refer to video at 00:25), when tinyBot_1 reach L1 and lift door start to open, cancel tinyBot_2's task and send it to another location on L1.

ros2 run rmf_demos_tasks cancel_task -id task_2;
ros2 run rmf_demos_tasks dispatch_patrol -F tinyRobot -R tinyBot_1 -p restaurant --use_sim_time -id task_3;

Observation:
tinyBot_2 enters lift while tinyBot_1 is still inside.

@mxgrey mxgrey self-assigned this Oct 25, 2024
@mxgrey mxgrey transferred this issue from open-rmf/rmf Oct 25, 2024
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