Posted by @aaronchongth:
It looks like the actions are not being picked up by the robot through the zenoh bridge. You can verify the communication using these example scripts for now, free_fleet/free_fleet_examples/free_fleet_examples at main · open-rmf/free_fleet · GitHub
I have another suspicion, it looks like you’re using zenoh v1.4.0, I’m not sure if your zenoh bridges are of the same version since we’ve only bumped instructions for 1.3.3 a while ago. You can also use Release 1.3.3 · eclipse-zenoh/zenoh · GitHub standalone binaries for the zenoh router to see if that is causing the issue
Posted by @ptientho:
Hi @aaronchongth and @0RBalaji, the cause is really my rmf adapter has an synchronous block that delays the RMF communication. After removing the block, RMF can communication with my robots in realtime and looks like the problem is solved.
Posted by @aaronchongth:
Thanks for isolating the issue @ptientho! Glad to hear that you managed to resolve it
It would be awesome and much appreciated too, if you could provide some insight or examples (counter examples) on what the community should avoid doing to prevent similar issues
Posted by @ptientho:
Of course! I’d like to share a good practice to the community. How would you like me to do it, like writing in this thread?
Posted by @aaronchongth:
That would be ideal! As long as folks can search for related terms in discussion it would be super useful