Closed shifsa closed 1 year ago
Hello @shifsa! Could you elaborate a little more on the issue, perhaps how long did it take for the robot to start moving in these scenarios?
As for Responsive Wait
, it is a mechanism in RMF that allows for re-routing these stationary robots (after it has completed its task and the finishing task is nothing
), to allow other robots to pass through those lanes and waypoints. These Responsive Wait
tasks, should be overwritten by new incoming tasks without the need to wait for it to be completed. In your scenario, is it the case that the robot waits for 30 seconds before it starts moving?
Each time I submit a task, the time it takes for the robot to start moving varies.(max 30 seconds)
When I do not submit a task, the FreeFleet log shows the following.
[free_fleet_client_ros2-2] [INFO] [1660801148.050725901] [turtlebot3_burger1.turtlebot3_free_fleet_client_node]: we reached our goal early! Waiting 29.33 more seconds
As long as this log is displayed, the robot does not move even if I send a task.
Only the yellow ball of rmf_visualization starts moving.
After that, when the following log appears, the yellow ball reverts to a purple ball and the robot on Gazebo begins to move.
[free_fleet_client_ros2-2] [INFO] [1660801179.552140857] [turtlebot3_burger1.turtlebot3_free_fleet_client_node]: we reached our goal early! Waiting 0.01 more seconds
Hello, @aaronchongth . The video below recreates the situation.
Hello @shifsa! I am able to replicate what you were facing, and I believe I have found a fix, https://github.com/open-rmf/free_fleet/pull/120.
My preliminary tests look good at the moment. Let me know if you still face issues with this fix.
Hello, @aaronchongth . Thanks for fixing the code. It now works properly here too!
Bug report
Required information:
Description of the bug
Sometimes robot does not move immediately when a task is sent from the RMF.
Steps to reproduce the bug
Expected behavior
Turtlebot3 on Gazebo is moving quickly.
Actual behavior
After a short time, the robot begins to move.
Screenshots
Additional information
Looking at /fleet_states topic, there is an instruction set to wait in place for 30 seconds (Responsive Wait?) when I have not sent a task from RMF. I am assuming that the robot is stuck until it completes.