Posted by @cwrx777:
RMF release: humbe-230630.
The above was replayed from a rosbag.
Issue:
At 00:55, after DeliveryRobot_1 went into the waypoint after the door, no adapter_door_requests to close the door.
After the next robot (DeliveryRobot_4) went in, even though there was an adapter_door_requests by DeliveryRobot_4 to close the door (1:05), no door_requests to close were published. This is because the door_supervisor’s door log was not empty
So the question is why there were no close adapter_door_requests from DeliveryRobot_1?
Posted by @mxgrey:
We’ve seen this issue happen when something triggers RMF to replan (usually a negotiation) while a robot is passing through a door. The open door → move → close door sequence gets interrupted by the replanning, and the close door step ends up getting skipped in the new plan.
I’m working on a way for RMF to identify when this situation has happened and then release the door automatically. I might also put a “leasing period” into the door supervisor so that door open requests time out eventually no matter what (e.g. a robot or fleet adapter goes totally offline without requesting the door to close).
Posted by @cwrx777:
@mxgrey
Thanks for the explanation. We did notice that there was a replan after the Robot reached the waypoint after the door.