Cleaning Task in airport_terminal and clinic demos not working

[KamalanathanN]

Hi,

How do i configure exisiting fleets to accept cleaning tasks? and where are the zones defined inside the worlds?

Workspace information:

• Operating system and version: Ubuntu 20.04
• ROS distribution: ROS2 Foxy
• ROS installation method: from binary packages
• RMF installation method: from source

Steps to Reproduce

1. Inside RMF Panel
2. Task type Clean
3. zone_1

Expected behavior I guess its supposed to do some kind of coverage planning inside defined zones. Actual behavior On submitting cleaning task it shows Fleet [tinyRobot] and Fleet [deliveryRobot] is configured to not accept task [Clean0].

Screenshots

Additional context

• I looked into the adapter.launch.xml for both robots and noticed <arg name="perform_cleaning" value="false"/>, changed those but still same error.
• Also the locations of the zones_1,2,3.. are not clear inside both worlds....I assumed its defined inside building.yaml file or inside nav_graphs but its not. :(

[Yadunund]

Hi @KamalanathanN ,

Thanks for raising this issue. We are currently in the process of updating the demo worlds to showcase cleaning tasks. Will post an update here when this is ready (hopefully within this week or next) along with an explanation.

[Yadunund]

Hi @KamalanathanN ,

Sorry for the delay in the update.

First and foremost, we are in the process of migrating all RMF repositories into a dedicated open-rmf organization to foster greater collaboration with the open source community.

We recently merged a PR in open-rmf/rmf_demos to introduce cleaning robots into the airport_terminal world where they can be instructed to clean floor area (zones). You can follow the instructions here to install the packages from open-rmf.

For more information on how the cleaning task are configured, take a look at the documentation in our online book here. Feel free to open issues/discussions in open-rmf for additional questions you may have.