# Repubishing task with the same task request id (#323)

**URL:** <https://discourse.openrobotics.org/t/repubishing-task-with-the-same-task-request-id-323/44824>\
**Category:** Open-RMF General\
**Tags:** rmf-github-discuss\
**Created:** [March 10, 2023, 10:00pm UTC](https://discourse.openrobotics.org/t/repubishing-task-with-the-same-task-request-id-323/44824 "2023-03-10T22:00:36Z")\
**Posts on this page:** 1\
**Page:** 1

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**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:** [March 10, 2023, 10:00pm UTC](https://discourse.openrobotics.org/t/repubishing-task-with-the-same-task-request-id-323/44824/1 "2023-03-10T22:00:36Z")

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Posted by @cwrx777:

Hi,

Reference: [`handle_api_request`](https://github.com/open-rmf/rmf_ros2/blob/humble/rmf_task_ros2/src/rmf_task_ros2/Dispatcher.cpp#L408)  
I would like to check with you on RMF behavior on task API requests handling behavior.

1. if the task is a direct task request and the robot is already executing a task (task\_id = task\_1), if there is another task request with task\_id task\_1. does RMF see this as a different task and queue the task for this robot and publish a response? or RMF still responds but there the task is not queued since there is already a task with the same task\_id.
2. For task cancellation, kill, interrupt, etc, if the task does not exist in RMF, does RMF respond?
3. When the task is already completed,killed, cancelled, and if RMF receives another task request with the same task\_id, does RMF see this as another task and provide API response as queued?
4. How often does the dispatcher provide task\_state\_update via the websocket, including for completed task?
5. is there any API to check the status of a task?