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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.
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:
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 atLift_LWP_L1
andtinyBot_2
is atLift1_LWP_L2
.First, send
tinyBot_2
to a location atL1
.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 onL2
. This is to maketinyBot_1
to keep requesting for the lift.(refer to video at
00:25
), whentinyBot_1
reachL1
and lift door start to open, canceltinyBot_2
's task and send it to another location onL1
.Observation:
tinyBot_2
enters lift whiletinyBot_1
is still inside.The text was updated successfully, but these errors were encountered: