Posted by @abylikhsanov:
Hi,
I was following the guidelines to create a fleet adapter. I am not using nav yaml file but instead creating waypoints and lanes by getting them from the backend.
After I have created RobotCommandHandler it gets the first follow_waypoint command (for some reason 2 identical ones) but after completing them and updating the current waypoint I receive the following message from fleet adapter and traffic schedule:
[genius_fleet_adapter-1] [WARN] [1676756887.468041339] [wheelmeTest_fleet_adapter]: Failed to update using patch for DB version 9 (mirror version: none, patch base: 8); requesting new update
[genius_fleet_adapter-1] [INFO] [1676756887.468064293] [wheelmeTest_fleet_adapter]: [rmf_traffic_ros2::MirrorManager::request_update] Requesting changes for query ID [1] since beginning of recorded history
[rmf_traffic_schedule-3] [INFO] [1676756887.477909689] [rmf_traffic_schedule_primary]: [ScheduleNode::update_mirrors] Sending remedial update starting from the beginning going to 9 for query 1
I thought that this is because update() function is not being called and RMF core did not receive any updated information about current waypoint, status, position and etc but this is not the case apparently.
Then it gets to send the same 2 waypoints over and over a
gain. What could be the reason here?
I am sharing my fleet_adapter and RobotCommandHandle python files just in case.
files.zip
Chosen answer
Answer chosen by @abylikhsanov at 2023-02-18T23:01:19Z.
Answered by @abylikhsanov:
Apologies, seems like the answer is here
https://github.com/open-rmf/rmf/discussions/296