[Bug]: Cannot Launch rmf demos properly since at least 12 June 2024 via official docker image

RobLevv commented 3 months ago

Before proceeding, is there an existing issue or discussion for this?

[X] I have done a search for similar issues and discussions.

OS and version

Ubuntu 22.04

Open-RMF installation type

Docker

Other Open-RMF installation methods

No response

Open-RMF version or commit hash

2.3.0

ROS distribution

Rolling

ROS installation type

Docker

Other ROS installation methods

No response

Package or library, if applicable

No response

Description of the bug

No demo scenario can be launched properly

More precisely, the fleet adapter cannot connect to the server

[fleet_adapter-15] [ERROR] [1718262000.911974934] [tinyRobot_fleet_adapter]: Connection lost
[fleet_adapter-15] > Reconnecting in 1s
[fleet_adapter-15] > Host: ws://localhost:8000/_internal
[fleet_adapter-15] [INFO] [1718262001.912357421] [tinyRobot_fleet_adapter]: Attempting to connect to ws://localhost:8000/_internal
[fleet_adapter-15] [ERROR] [1718262001.913277417] [tinyRobot_fleet_adapter]: Connection to ws://localhost:8000/_internal failed. Reason:
[fleet_adapter-15]  > URI: ws://localhost:8000/_internal
[fleet_adapter-15] > Status: Closed
[fleet_adapter-15] > Remote Server: None Specified
[fleet_adapter-15] > Error/close reason: Underlying Transport Error
[fleet_adapter-15]

This causes the scenarios to not be usable as is.

Steps to reproduce the bug

Follow the instructions here

docker pull ghcr.io/open-rmf/rmf/rmf_demos:latest
docker tag ghcr.io/open-rmf/rmf/rmf_demos:latest rmf:latest
docker run -it --network host rmf:latest bash -c "export ROS_DOMAIN_ID=9; ros2 launch rmf_demos_gz office.launch.xml headless:=1"

Expected behavior

Launch with no problem nor tinkering needed

Actual behavior

Cannot use as is

Additional information or screenshots

This problem occurred since yesterday ( 12 June ) and maybe before when I tried to run some demos to try new things but failed, Today I tried launching from docker but failed too.

RobLevv commented 3 months ago

Additional information and questions:

After long hours of trying different things without success ( building docker myself, going with rolling, ...) I managed to narrow it down to my first problem, not being able to launch demos anymore since ros-humble update 1 week ago

What is the exact use of this file ? ./lib/python/site-packages/rmf_adapter.cpython-310-x86_64-linux-gnu.so

When moving from binaries to building from source, it says to delete everything from rmf binaries and that library disappeared making it impossible to use adapters in python anymore because it was impossible to import rmf_adapter

Maybe I just don't understand how that works ( keep in mind I'm new to this world of cpp and linux )

Yadunund commented 3 months ago

The docker images are not building correctly since the underlay has not been updated from humble and ros_gz packages don't build. See https://github.com/open-rmf/rmf/issues/480.

Please stick to binaries or source build in the meanwhile.

When moving from binaries to building from source, it says to delete everything from rmf binaries and that library disappeared making it impossible to use adapters in python anymore because it was impossible to import rmf_adapter

Once you build from source, you can source this workspace and then build your custom fleet adapter.

open-rmf / rmf