[Other issue]: full control error when we send another level task point to the robot

[Sizen007]

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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 Failed

Below is my project.building.yaml

crowd_sim: agent_groups:

• {agents_name: [], agents_number: 0, group_id: 0, profile_selector: external_agent, state_selector: external_static, x: 0, y: 0} agent_profiles:
• {ORCA_tau: 1, ORCA_tauObst: 0.4, class: 1, max_accel: 0, max_angle_vel: 0, max_neighbors: 10, max_speed: 0, name: external_agent, neighbor_dist: 5, obstacle_set: 1, pref_speed: 0, r: 0.25} enable: 0 goal_sets: [] model_types: [] obstacle_set: {class: 1, file_name: L1_navmesh.nav, type: nav_mesh} states:
• {final: 1, goal_set: -1, name: external_static, navmesh_file_name: ""} transitions: [] update_time_step: 0.1 graphs: {} levels: L1: drawing: filename: /root/maps/map-Jul20/L1.png elevation: 0 fiducials:
  • [168.112, 176.195, F1]
  • [182.539, 154.75, F2]
  • [209.443, 160.599, F3] flattened_x_offset: 0 flattened_y_offset: 0 lanes:
  • [5, 6, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}]
  • [4, 6, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}]
  • [3, 4, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}]
  • [4, 7, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] layers: {} measurements:
  • [0, 1, {distance: [3, 1]}] vertices:
  • [0, 0, 0, m1]
  • [0, 10, 0, m2]
  • [-18.9, 18.9, 0, origin]
  • [168.166, 196.236, 0, map-Jul20_L1_p5]
  • [182.974, 178.553, 0, map-Jul20_L1_p2]
  • [199.605, 190.019, 0, charge, {is_charger: [4, true]}]
  • [193.651, 186.026, 0, home]
  • [200, 157.4, 0, map-Jul20_L1_p3, {lift_cabin: [1, LF001]}] L2: drawing: filename: /root/maps/lenovoF8/L1.png elevation: 0 fiducials:
  • [256.243, 588.8390000000001, F1]
  • [259.255, 539.895, F2]
  • [305.941, 515.799, F3] flattened_x_offset: 0 flattened_y_offset: 0 lanes:
  • [3, 4, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] layers: {} measurements:
  • [0, 1, {distance: [3, 1]}] vertices:
  • [0, 0, 0, m1]
  • [0, 20, 0, m2]
  • [-13.3, 56.3, 0, origin]
  • [276.273, 498.022, 0, lenovoF8_L1_charge, {is_charger: [4, true]}]
  • [299.554, 535.7, 0, "", {lift_cabin: [1, LF001]}] lifts: LF001: depth: 1 doors: door1: door_type: 2 motion_axis_orientation: 0 width: 1 x: 0 y: 0.5 door2: door_type: 2 motion_axis_orientation: 0 width: 1 x: 0 y: 0.5 highest_floor: L2 initial_floor_name: L1 level_doors: L1: [door1] L2: [door1] lowest_floor: L1 plugins: true reference_floor_name: L1 width: 1 x: 200 y: 157.4 yaw: 0 name: project

below is the nav graph generate by this project.building.yaml

building_name: project levels: L1: lanes:

• • 0
    • 1
    • {}
• • 1
    • 0
    • {}
• • 2
    • 1
    • {}
• • 1
    • 2
    • {}
• • 3
    • 2
    • {}
• • 2
    • 3
    • {}
• • 2
    • 4
    • {}
• • 4
    • 2
    • {} vertices:
• • 1.060500000000001
    • -0.1019000000000041
    • {is_charger: true, name: charge}
• • 0.4651000000000032
    • 0.2973999999999961
    • {name: home}
• • -0.6025999999999989
    • 1.0446999999999989
    • {name: map-Jul20_L1_p2}
• • -2.0833999999999975
    • -0.7236000000000011
    • {name: map-Jul20_L1_p5}
• • 1.1000000000000014
    • 3.1599999999999966
    • {lift: LF001, lift_cabin: LF001, name: map-Jul20_L1_p3} L2: lanes:
• • 0
    • 1
    • {}
• • 1
    • 0
    • {} vertices:
• • -16.278444896757062
    • 27.98020880144979
    • {is_charger: true, name: lenovoF8_L1_charge}
• • -16.40634909121198
    • 25.76938720540436
    • {lift_cabin: LF001, name: ''}

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.

[Sizen007]

issues have been reported, sorry for submit again