Posted by @royito55:
Hi,
I’ve been setting up the RMF schedule for two robots, and although I can launch the basics, I keep getting the error shown in the title after I send a task to the schedule that includes two waypoints that are 2m or more apart.
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It seems like the fleet adapter does not update correctly to where the robot actually is (the purple circle is where the robot is), and as soon as the error appears, I can’t send any more tasks and I have to restart the schedule to start again.
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The system definitely knows where the robot is, otherwise the goals sent to nav2 would not even work, and the robot does start moving.
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I’ve noticed that the threshold for this error to appear is 2 meters. If the waypoints are closer than that, then the fleet adapter sends a message saying that even though the robot is not where expected, it will continue.
Is this an issue with the fleet adapter, the free fleet client/server, or the rmf schedule? Can this be a network issue? I’m running everything with cycloneDDS; the robots have their own nav2 setup and the free fleet clients and server, while I launch the schedule in a central computer. Attached is a video of what happens.
- Also, as a general question, what does the purple circle AND the yellow circle represent? Is it a bad sign if the yellow circle disappears from time to time? Once the schedule plans the path, I can see that the purple circle takes longer than the yellow one to move, and it feels like they should be synced.