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open-rmf / free_fleet

A free fleet management system.
Apache License 2.0
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DestinationRequest messages not arriving at ROS1 client while FleetState works fine #77

Closed Achllle closed 2 months ago

Achllle commented 3 years ago

I have a fleet server (ROS2, separate computer) connected with a few robots (real, running ROS1 Melodic). The robots are registered (printout 'registered a new robot: XYZ'). /fleet_states actively displays the latest data from the robots. When I run the python script send_destination_request.py with the correct parameters however, there aren't any printouts on server or client side acknowledging the receipt. I manually added debug statements on the server side and am seeing that the goal is sent successfully (sent variable evaluates to 1). The client side already has an INFO printout that indicates when it receives a request, but I don't see any such printouts in the logs and there is no message on /move_base/goal. Since the client and server are able to communicate over DDS for the fleet states, I'm not sure what else could cause the message to not arrive.

I'm not sure if I'm missing something obvious or how to debug this so any input is appreciated. I'm on latest master 6633fdf

Achllle commented 3 years ago

I realized what's going on. I had skipped over the condition is_valid_request and there was a typo in the fleet name (doh). Keeping this issue open because there should probably be some logging output that indicates the fact that and why the message was rejected.