Sizen007
commented
11 months ago not solved
Open Sizen007 opened 11 months ago
Sizen007
commented
11 months ago not solved
Yadunund
commented
11 months ago Could you share the task request that your submitted?
Sizen007
commented
11 months ago Could you share the task request that your submitted?
I modified a task type named Photo.
below is the msg type in rmf_task_msg `string task_id
rmf_dispenser_msgs/DispenserRequestItem[] items
string camera_type string photo_type string photo_place_name string photo_upload_dir float64[] photo_poses float64 desired_yaw float64[] position float64[] orientation ` It has three phases. The first one is "GotoPlace" the original type in RMF. The second one is "PhotoPhase" which plays photo actions.
By the way, could you please tell me if my "project.building.yaml" is right for across floor tasks?
Sizen007
commented
11 months ago Could you share the task request that your submitted?
Below is my code part. Thanks for your replay.
`auto photo = std::make_shared
for(const auto &pose : task._rqt_point_info.ptz){
photo->photo_poses.push_back(pose);
std::cout<<"ptz pose: "<<pose<<std::endl;
}
std::string pic_file_path;
pic_file_path = generate_pic_name(_plan_start_time, task._rqt_point_info.device_id, "CCD",_task_patrolled_id);
// update photo dir
task._rqt_point_info.upload_photo_dir = pic_file_path;
photo->photo_upload_dir = pic_file_path;
photo->camera_type = task._rqt_point_info.camera_type;
photo->photo_type = task._rqt_point_info.photo_type;
// position
for(const auto &pos : task._rqt_point_info.nav_position){
std::cout<<"pos: "<<pos<<std::endl;
photo->position.push_back(pos);
}
// orientation
for(const auto &ori : task._rqt_point_info.nav_orientation){
std::cout<<"ori: "<<ori<<std::endl;
photo->orientation.push_back(ori);
}
task_description->priority.value = 0;
task_description->task_type.type = TaskType::TYPE_PHOTO;
task_description->start_time.sec = rclcpp::Time().seconds();
task_description->photo = *photo;
request->description = *task_description;
request->requester = "TaskSubmitClientId";
// call server
try {
auto result = _submit_task_client->async_send_request(request);
auto response = result.get();
if(response->success){
RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "New Dispatch task_id: %s",
response->task_id.c_str());
_rms_task_id_map.insert(std::pair<std::string, RMSTask>(response->task_id.c_str(), task));
_current_task_id_map.push_back(response->task_id.c_str());
_task_goal_map.insert(std::pair<std::string, std::string>(response->task_id.c_str(), task._rqt_point_info.point_name));
}else{
RCLCPP_INFO(this->get_logger(), "Failed to call service %s",
response->task_id.c_str());
}
} catch (const std::exception &e) {
std::cerr << e.what() << '\n';
}`Could you share the task request that your submitted?
Actually, this task type can work well when the task point is on the same floor as the robot. However, when I ask the robot to go to another floor to do the photo task , the full control node died. So I guess maybe the different floors donot have the connection relationship. As a result, I added lift between these two floors which you can find in my "project.building.yaml", but i am not sure whehter I added correctly.
Before proceeding, is there an existing issue or discussion for this?
Description
Bug log is below
[rmf_task_dispatcher-1] [INFO] [1690445748.475783084] [rmf_dispatcher_node]: Received Task Submission [Photo2] [rmf_task_dispatcher-1] [INFO] [1690445748.475885316] [rmf_dispatcher_node]: Add Task [Photo2] to a bidding queue [full_control-9] [from FleetUpdateHandle ] generate photo requests [full_control-9] [INFO] [1690445748.579082801] [DaystarRobots_fleet_adapter]: Generated Photo request for task_id:[Photo2] [full_control-9] [INFO] [1690445748.579324042] [DaystarRobots_fleet_adapter]: Planning for [1] robot(s) and [1] request(s) [ERROR] [full_control-9]: process has died [pid 185, exit code -11, cmd '/root/server_ws/install/rmf_fleet_adapter/lib/rmf_fleet_adapter/full_control --ros-args -r __node:=DaystarRobots_fleet_adapter --params-file /tmp/launch_params_tso8329k --params-file /tmp/launch_params_fnpq0vj1 --params-file /tmp/launch_params_pp_7ga18 --params-file /tmp/launch_params_m6p4lbye --params-file /tmp/launch_params_fa_70jv4 --params-file /tmp/launch_params_rk6mfklc --params-file /tmp/launch_params_zdxavi0t --params-file /tmp/launch_params_ortiy6u4 --params-file /tmp/launch_params_6mgp6r2s --params-file /tmp/launch_params_56b1n6qf --params-file /tmp/launch_params_m02i7uai --params-file /tmp/launch_params_hwcdrce0 --params-file /tmp/launch_params_shi5xasd --params-file /tmp/launch_params_m7ad6rma --params-file /tmp/launch_params_9bwkrf2z --params-file /tmp/launch_params_o4bayi33 --params-file /tmp/launch_params_r7n2xq9h --params-file /tmp/launch_params__bgtu4k3 --params-file /tmp/launch_params_wfizfn2r --params-file /tmp/launch_params_5xooj1j9 --params-file /tmp/launch_params_j7gxn4ju --params-file /tmp/launch_params_cykwi1bj --params-file /tmp/launch_params_nwmuf_un --params-file /tmp/launch_params_1zbqlion --params-file /tmp/launch_params_stbluyft --params-file /tmp/launch_params_n8708z14 --params-file /tmp/launch_params_8b4cyuwb --params-file /tmp/launch_params_c_36267j --params-file /tmp/launch_params_5qiaprpb --params-file /tmp/launch_params_rjzb9iow']. [rmf_task_dispatcher-1] [INFO] [1690445748.778220007] [rmf_dispatcher_node]: Test 333 [rmf_task_dispatcher-1] [WARN] [1690445748.778303822] [rmf_dispatcher_node]: Dispatcher Bidding Result: task [Photo2] has no submissions during bidding, Task FailedBelow is my project.building.yaml
crowd_sim: agent_groups:
below is the nav graph generate by this project.building.yaml
building_name: project levels: L1: lanes:
I am not sure whether my project.building.yaml is right. For the tasks across floors, I have never succeed. However, for the tasks on the same floor, it works well.