Fix/docking end - Githubissues

open-rmf / fleet_adapter_mir

RMF/RoMi-H fleet adapter for the MiR API

Apache License 2.0

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Fix/docking end #31

Closed RBinsonB closed 1 year ago

RBinsonB commented 1 year ago

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	Closes https://github.com/osrf/fleet_adapter_mir/issues/17
Primary OS tested on	Ubuntu 22.04
Robotic platform tested on	Real MiR100 with Open-RMF running on ROS 2 Humble

How to run this PR feature

Reproduce the condition of the linked issue (https://github.com/osrf/fleet_adapter_mir/issues/17) with a dock charger. The dock should also be on the Open-RMF map.
Build the MiR fleet adapter package (or mount and build on the package in the Open-RMF test docker)
Run Open-RMF core and the MiR fleet adapter
Send the robot to the charger point

What you should expect:

After charge is over, the robot should disconnect from the charger

Description of contribution in a few bullet points

The function to queue a docking mission was not returning the response.
The flag to signal that charging has started is toggled to true when receiving an API message of the robot charging, but is not switched back to false anymore when the robot finishes charging.

xiyuoh commented 1 year ago

LGTM! Looks like the MirFM adapter is missing docking_finished_callback() at abort too, will open a new PR for that