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open-rmf / rmf

Root repository for the RMF software
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Unable to dispatch clean task through rmf dashboard in Hotel World(rmf-demos_gz_classic) #413

Open rmj1405 opened 8 months ago

rmj1405 commented 8 months ago

Discussed in https://github.com/open-rmf/rmf/discussions/412

Originally posted by **rmj1405** January 11, 2024 Hi, I've been trying to figure this out for 3 days and no matter what I do, I keep getting the same error and the task is not dispatched. CleanerbotA is able to move if it gets assigned a patrol task but never gets assigned a cleaning task. If I try to assign a clean task via the CLI as shown in the rmf-demos repo, it will work just fine. I am not understanding what is going wrong when I do it through the RMF-dashboard ![hotel-world clean task error](https://github.com/open-rmf/rmf/assets/35266074/5e0a7fb7-7f38-424b-8033-20e0b33b0d39) My setup: ROS2 humble Latest Open-RMF Source Build from main branch RMF-web dashboard, server Ubuntu 22.04 Things I've tried: 1. increasing the bidding_time_window in common.launch.xml in rmf_demos/launch from 2.0s to 20.s 2. Modify the task capabilities in rmf_demos/rmf_demos/config/hotel/cleanerBotA_config.yaml as such: ``` task_capabilities: # Specify the types of RMF Tasks that robots in this fleet are capable of performing loop: False //I changed this to True delivery: False clean: True // I added this actions: ["clean"] //I tried both with and without this ``` I have been making edits in the src folder and building with colcon after doing so. I have also scoured through the Dispatcher.cpp and Auctioneer.cpp files to get a sense of what is going on. I'm not sure why the robots are not bidding for the cleaning tasks and why are cleaning tasks not being accepted? Help would be greatly appreciated thank you!!
aaronchongth commented 8 months ago

Hey @rmj1405! Sorry to hear that you are having issues with this. I believe the task schema used for the cleaning task on the dashboard might not be the most up-to-date one, hence submitting a task through the dashboard is broken at the moment. You can compare the schemas used in the dashboard, https://github.com/open-rmf/rmf-web/blob/main/packages/react-components/lib/tasks/create-task.tsx#L538, and the one in rmf_demos, and make the necessary changes required for now.

We will be refactoring how we support task schemas on the dashboard in the coming months, but haven't gotten around to fix any current broken tasks for the demos. If you managed to fix it for your use case, it'd be greatly appreciated if you could start a PR to fix it on main too.

Aside from that, please refrain from duplicating discussions, https://github.com/open-rmf/rmf/discussions/412 in the future.

edit: probably related to https://github.com/open-rmf/rmf-web/issues/639