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log: [lift_supervisor-12] [INFO] [1718892760.530397320] [rmf_lift_supervisor]: [tinyRobot/c595d399-f240-460f-8bd1-7119c1dad025] Received adapter lift request to [L2] with request type [1] |
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I'm having a little trouble understanding your objective and the question, it'd help if you could provide some details about what you're trying to do.
Do you mean that when you submit a patrol task, and the robot has reached the destination, it is stuck in a I'm not really able to see what's going on from these logs apart from the
I'll need to understand your setup better. Can I confirm that you are testing this fleet adapter on hardware, with a lift adapter running with valid lift states being published? We have had cases where the robot completely loses all connection to RMF when inside the lift with the lift doors shut, and it takes several seconds up to a minute for connection to return when the doors open on a new floor. Do you think that is the case for you? If not, I'll need a little more elaboration about where this delay occurs, i.e. between the lift reaching L2 and the switch map command being sent to the robot, or between the switch map command being sent by RMF and it actually being received/completed on the robot. For future reference, do paste your logs in a gist instead so that it is easier to view 😄 |
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demo.mp4 |
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I'm developing a demo using easy_fleet_adapter, and the scenario I'm currently testing involves crossing floors. For example, I move from "charge1" on L1 to "l2_bay_99" on L2. However, "l2_bay_99" is not set as "is_parking_spot=true." When I reach the destination, I notice that the task remains in the standby state. Below is the data retrieved from the task state API call (http://localhost:8000/tasks/direct_c9b8e8e7-a082-427c-8f1b-a0c450d754b1/state):
{ "booking": { "id": "direct_c9b8e8e7-a082-427c-8f1b-a0c450d754b1", "unix_millis_earliest_start_time": 1718888721084, "unix_millis_request_time": null, "priority": null, "labels": null, "requester": null }, "category": "go_to_place", "detail": {}, "unix_millis_start_time": 1718888722648, "unix_millis_finish_time": 1718888988345, "original_estimate_millis": 0, "estimate_millis": 0, "assigned_to": { "group": "tinyRobot", "name": "c595d399-f240-460f-8bd1-7119c1dad025" }, "status": "standby", "dispatch": null, "phases": { "1": { "id": 1, "category": "Go to [place:l2_bay_99]", "detail": "Moving the robot from [place:charge1] to [place:l2_bay_99]", "unix_millis_start_time": 1718888722633, "unix_millis_finish_time": 1718888988344, "original_estimate_millis": 47626, "estimate_millis": 309, "final_event_id": 0, "events": { "0": { "id": 0, "status": "standby", "name": "Go to [place:l2_bay_99]", "detail": "Moving the robot from [place:charge1] to [place:l2_bay_99]", "deps": [ 26, 27, 25, 33 ] }, "1": { "id": 1, "status": "standby", "name": "Take [lift:Lift1] to [floor:L2]", "detail": {}, "deps": [ 7, 8, 9, 10, 11 ] }, "2": { "id": 2, "status": "completed", "name": "Move to [place:test_4] < 13.8932 -22.4329 0.662802> through 5 points", "detail": {}, "deps": [] }, "3": { "id": 3, "status": "underway", "name": "Lock mutex groups ", "detail": "Waiting for the mutex groups to be locked", "deps": [] }, "4": { "id": 4, "status": "standby", "name": "Move to [place:test_19] <19.3671 -18.16 0.37482> through 3 points", "detail": {}, "deps": [] }, "5": { "id": 5, "status": "standby", "name": "Lock mutex groups ", "detail": "Waiting for the mutex groups to be locked", "deps": [] }, "6": { "id": 6, "status": "standby", "name": "Move to [place:test_20] < 20.5493 -17.6949 0.661105> through 3 points", "detail": {}, "deps": [] }, "7": { "id": 7, "status": "standby", "name": "Requesting lift \"\" to \"\"", "detail": {}, "deps": [] }, "8": { "id": 8, "status": "standby", "name": "Move to [graph-wp:5] < 21.4737 -16.9758 0.661105> through 2 points", "detail": {}, "deps": [] }, "9": { "id": 9, "status": "standby", "name": "Requesting lift \"\" to \"\"", "detail": {}, "deps": [] }, "10": { "id": 10, "status": "standby", "name": "Move to [place:l2_bay_98] < 20.583 -15.9205 2.27179> through 2 points", "detail": {}, "deps": [] }, "11": { "id": 11, "status": "standby", "name": "End session with lift [Lift1]", "detail": {}, "deps": [] }, "12": { "id": 12, "status": "standby", "name": "Move to [place:l2_bay_99] < 19.6793 -16.5028 -2.56915> through 3 points", "detail": {}, "deps": [] }, "13": { "id": 13, "status": "underway", "name": "Take [lift:Lift1] to [floor:L2]", "detail": {}, "deps": [ 19, 20, 21, 22, 23 ] }, "14": { "id": 14, "status": "completed", "name": "Move to [place:test_4] < 13.8932 -22.4329 0.662802> through 3 points", "detail": {}, "deps": [] }, "15": { "id": 15, "status": "completed", "name": "Lock mutex groups ", "detail": "Waiting for the mutex groups to be locked", "deps": [] }, "16": { "id": 16, "status": "completed", "name": "Move to [place:test_19] <19.3671 -18.16 0.37482> through 3 points", "detail": {}, "deps": [] }, "17": { "id": 17, "status": "completed", "name": "Lock mutex groups ", "detail": "Waiting for the mutex groups to be locked", "deps": [] }, "18": { "id": 18, "status": "completed", "name": "Move to [place:test_20] < 20.5493 -17.6949 0.661105> through 3 points", "detail": {}, "deps": [] }, "19": { "id": 19, "status": "underway", "name": "Requesting lift \"\" to \"\"", "detail": {}, "deps": [] }, "20": { "id": 20, "status": "standby", "name": "Move to [graph-wp:5] < 21.4737 -16.9758 0.661105> through 2 points", "detail": {}, "deps": [] }, "21": { "id": 21, "status": "standby", "name": "Requesting lift \"\" to \"\"", "detail": {}, "deps": [] }, "22": { "id": 22, "status": "standby", "name": "Move to [place:l2_bay_98] < 20.583 -15.9205 2.27179> through 2 points", "detail": {}, "deps": [] }, "23": { "id": 23, "status": "standby", "name": "End session with lift [Lift1]", "detail": {}, "deps": [] }, "24": { "id": 24, "status": "standby", "name": "Move to [place:l2_bay_99] < 19.6793 -16.5028 -2.56915> through 3 points", "detail": {}, "deps": [] }, "25": { "id": 25, "status": "standby", "name": "Take [lift:Lift1] to [floor:L2]", "detail": {}, "deps": [ 28, 29, 30, 31, 32 ] }, "26": { "id": 26, "status": "completed", "name": "Lock mutex groups ", "detail": "Waiting for the mutex groups to be locked", "deps": [] }, "27": { "id": 27, "status": "completed", "name": "Move to [place:test_20] < 20.5493 -17.6949 0.661105> through 2 points", "detail": {}, "deps": [] }, "28": { "id": 28, "status": "standby", "name": "Requesting lift \"\" to \"\"", "detail": {}, "deps": [] }, "29": { "id": 29, "status": "completed", "name": "Move to [graph-wp:5] < 21.4737 -16.9758 0.661105> through 2 points", "detail": {}, "deps": [] }, "30": { "id": 30, "status": "completed", "name": "Requesting lift \"\" to \"\"", "detail": {}, "deps": [] }, "31": { "id": 31, "status": "completed", "name": "Move to [place:l2_bay_98] < 20.583 -15.9205 2.27179> through 2 points", "detail": {}, "deps": [] }, "32": { "id": 32, "status": "completed", "name": "End session with lift [Lift1]", "detail": {}, "deps": [] }, "33": { "id": 33, "status": "completed", "name": "Move to [place:l2_bay_99] < 19.6793 -16.5028 -2.56915> through 3 points", "detail": {}, "deps": [] } }, "skip_requests": null } }, "completed": [ 1 ], "active": 1, "pending": [], "interruptions": null, "cancellation": null, "killed": null }I noticed that when the destination is a point with "is_parking_spot=true", and the elevator is used to reach the destination, the task can be completed successfully. I'm wondering if this behavior is by design or if there might be an issue with my code. I've implemented the lift_adapter and localize methods, and I would appreciate it if you could take a look at my code. This issue has been troubling me for several days now.
It's important to note that currently, my robot takes about one minute to execute the command for switching maps. Could this delay in the process be causing the task not to complete?
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