Posted by @akshay-ka:
Hello,
I’m integrating my custom robots (runs on ros2) with rmf using free_fleet package.
Now, I’m unable to add the robot to the fleet.
Here is the log of the error i get.
I’m not sure what is wrong in my configuration file. Everything seems to be correct in my config file.
Could anyone see any error in my config file ?
Any help or guidance would be appreciated.
Chosen answer
Answer chosen by @aaronchongth at 2025-04-17T08:08:05Z.
Answered by @akshay-ka:
@aaronchongth Initially, I had only used a lidar scan map to create a nav_graph file. Later, I created a floor_plan first, and then added the lidar scan map as a layer. Then the issue was resolved.
Posted by @aaronchongth:
hi @akshay-ka, error_log.txt · GitHub is the issue.
The error message also details what the potential issue is, so you can look into those.
Posted by @akshay-ka:
hi @aaronchongth, my map name is correct (i.e, L1), therefore does it mean my rmf and robot co-ordinates are wrong ?
Posted by @aaronchongth:
off the top of my head, it means either
- the reference coordinates are wrong, and therefore the robot’s position is mapped to somewhere far away from the RMF navigation graph, or
- the reference coordinates are correct, but the robot is localized incorrectly, which maps to somewhere far away from the RMF navigation graph, or
- the reference coordinates are correct, the robot is localized correctly, but any custom modifications that was done to the fleet adapter, has updated RMF with a position that is far away from the navigation graph
Posted by @aaronchongth:
@akshay-ka since you’ve opened https://github.com/open-rmf/rmf/discussions/667 with the robots added, I assume this problem has been resolved. Can you share what the issue was, and how you solved it?
Posted by @akshay-ka:
@aaronchongth Initially, I had only used a lidar scan map to create a nav_graph file. Later, I created a floor_plan first, and then added the lidar scan map as a layer. Then the issue was resolved.
This is the chosen answer.