mxgrey
commented
1 week ago Thanks for the report. Are you able to upload the repo with the map and any launch file you used, that way we can debug the scenario directly?
Open gmchoi96 opened 1 week ago
mxgrey
commented
1 week ago Thanks for the report. Are you able to upload the repo with the map and any launch file you used, that way we can debug the scenario directly?
gmchoi96
commented
1 week ago Hello @mxgrey ! Thank you for your answer.
Before more complex tests, I wanted to check the stability of rmf driving, so I modified the demos file provided a little and tested it as shown below.
I will give you the github address so that you can download the file. https://github.com/gmchoi96/rmf_sort_test/tree/main
The execution command I tested was [ simulation ] ros2 launch rmf_demos_gz office.launch.xml server_uri:="ws://localhost:8000/_internal" [ tasks ] ros2 run rmf_demos_tasks dispatch_loop -s tinyRobot1_spawn -f drop13 -n 7 --use_sim_time ros2 run rmf_demos_tasks dispatch_loop -s tinyRobot2_spawn -f drop9 -n 7 --use_sim_time ros2 run rmf_demos_tasks dispatch_loop -s tinyRobot3_spawn -f drop6 -n 7 --use_sim_time ros2 run rmf_demos_tasks dispatch_loop -s tinyRobot4_spawn -f drop3 -n 7 --use_sim_time
I also briefly checked and tested for about 10 minutes, and confirmed that the symptoms appeared, and reported it because the symptoms seemed very dangerous. In addition to this, there were some problems, such as the robot not moving even when a new path was created while driving. I couldn't confirm whether this is a problem that always occurs. However, if it is an intermittent problem, I think it can cause bigger problems during actual testing.
Is this an issue that can be improved? I plan to test it with more complex robots, 10+.
If you have any additional questions, please let me know.
-- Basically, I modified the files provided by rmf, and I will organize the list of files I modified. Check it out if necessary. --
[ add ] rmf_demos_maps/maps/sorting_test [ modify ] rmf_demos/launch/office.launch.xml/ rmf_demos_gz/launch/office.launch.xml rmf_demos_assets/models/TinyRobot/model.sdf rmf_demos_fleet_adapter/config.yaml rmf_demos/config/office/tinyRobot_config.yaml
Before proceeding, is there an existing issue or discussion for this?
OS and version
ubuntu22.04
Open-RMF installation type
Binaries
Other Open-RMF installation methods
No response
Open-RMF version or commit hash
2.3.0
ROS distribution
Humble
ROS installation type
Source build
Other ROS installation methods
No response
Package or library, if applicable
No response
Description of the bug
I am running a simulation in which 4 TinyRobots repeat pick and drop actions at specific points.. However, as seen in the video, there are symptoms of a collision or an attempt to enter even though the path has been preempted.
collision.webm enter.webm
Steps to reproduce the bug
Expected behavior
No response
Actual behavior
No response
Additional information or screenshots
No response