# Failed to Bid a Task (#59)

**URL:** <https://discourse.openrobotics.org/t/failed-to-bid-a-task-59/44939>\
**Category:** Open-RMF General\
**Tags:** rmf-github-discuss\
**Created:** [June 1, 2021, 12:19pm UTC](https://discourse.openrobotics.org/t/failed-to-bid-a-task-59/44939 "2021-06-01T12:19:00Z")\
**Posts on this page:** 2\
**Page:** 1

<div class="post-metadata">

**Author:** ![Archive-o-matic](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/archive-o-matic/32/26074_2.png) [@Archive-o-matic](https://discourse.openrobotics.org/u/Archive-o-matic)\
**Post date:** [June 1, 2021, 12:19pm UTC](https://discourse.openrobotics.org/t/failed-to-bid-a-task-59/44939/1 "2021-06-01T12:19:00Z")

</div>

Posted by @shubhamnagla:

Hi everyone,

So I was trying to control two similar robots in an environment, Which I created in the traffic-editor following [this](https://osrf.github.io/ros2multirobotbook/traffic-editor.html) tutorial.

Now the problem I am facing is that I am able to spawn both the robots inside the gazebo simulation, Also can see both the robots on the individual graphs in rviz.

But now when I try to give the task from the web interface. Sometimes the robot 2 runs the task successfully sometimes the robot 1.

And sometimes the task gets failed and I get the following message on the terminal:

[rmf\_task\_dispatcher-10] [WARN] [1622549252.733772543] [rmf\_dispatcher\_node]: Dispatcher Bidding Result: task [Loop2] has no submissions during bidding, Task Failed

I have also specified the parameters for the full-control fleet.

And, when one of the robots is working or moving for a task the other robot goes idle why so?

I am using Ubuntu 20.04 LTS with Ros2 Foxy. I used [this](https://github.com/open-rmf/rmf) repository’s readme file for installation of openRMF. I used [this](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html) tutorial for the installation of the ros2.

The traffic-editor map:

 ![Screenshot from 2021-06-03 13-38-52](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/3/4/340fe25c0c7091a94b3b339dd18a1c5b81ce0705.png)

The robots are being spawned at igtbot\_charger1 and igtbot\_charger2

Link to the launch file: [https://drive.google.com/file/d/1BpMrgxNF0zabfaHMIqVMJxmPjpzwWWLL/view?usp=sharing](https://drive.google.com/file/d/1BpMrgxNF0zabfaHMIqVMJxmPjpzwWWLL/view?usp=sharing)

Link to the building.yaml file: [https://drive.google.com/file/d/1MKPqnoGc5AV2Lqmjv2gfuX3NkDEsaoMD/view?usp=sharing](https://drive.google.com/file/d/1MKPqnoGc5AV2Lqmjv2gfuX3NkDEsaoMD/view?usp=sharing)

Please help

* * *

Edited by @shubhamnagla at 2021-06-03T08:21:21Z

> **Chosen answer**
>
> Answer chosen by @shubhamnagla at 2021-06-17T05:57:05Z.  
> Answered by @Yadunund:
> 
> Hi there,
> 
> Could you share the details of the task that you requested along with the entire terminal output?
> 
> If I were to guess, you’re requesting for the robots to loop between `room2` and another waypoint. In this case the robot on `Graph 1 (blue)` is the only one that accepts the task. This is because of an error you have in connecting `Graph 0 (green)`. If you look at the screenshot below, the red circle highlights a broken graph. So the two vertices that nearly overlap are not connected by any lanes. I would recommend deleting one of the vertices and ensuring the graph is fully connected.
> 
> ![image](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/d/e/deddbfa7f86cab3173ff5ac4f3a154afa4eaec4e.png)

---

<div class="post-metadata">

**Author:** ![Archive-o-matic](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/archive-o-matic/32/26074_2.png) [@Archive-o-matic](https://discourse.openrobotics.org/u/Archive-o-matic)\
**Post date:** [June 14, 2021, 4:24am UTC](https://discourse.openrobotics.org/t/failed-to-bid-a-task-59/44939/2 "2021-06-14T04:24:18Z")

</div>

Posted by @Yadunund:

Hi there,

Could you share the details of the task that you requested along with the entire terminal output?

If I were to guess, you’re requesting for the robots to loop between `room2` and another waypoint. In this case the robot on `Graph 1 (blue)` is the only one that accepts the task. This is because of an error you have in connecting `Graph 0 (green)`. If you look at the screenshot below, the red circle highlights a broken graph. So the two vertices that nearly overlap are not connected by any lanes. I would recommend deleting one of the vertices and ensuring the graph is fully connected.

 ![image](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/d/e/deddbfa7f86cab3173ff5ac4f3a154afa4eaec4e.png)

* * *

**This is the chosen answer.**