# Task has no submission during bidding (#68)

**URL:** <https://discourse.openrobotics.org/t/task-has-no-submission-during-bidding-68/44937>\
**Category:** Open-RMF General\
**Tags:** rmf-github-discuss\
**Created:** [June 23, 2021, 8:20am UTC](https://discourse.openrobotics.org/t/task-has-no-submission-during-bidding-68/44937 "2021-06-23T08:20:57Z")\
**Posts on this page:** 2\
**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:** [June 23, 2021, 8:20am UTC](https://discourse.openrobotics.org/t/task-has-no-submission-during-bidding-68/44937/1 "2021-06-23T08:20:57Z")

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Posted by @jamietjx:

Below is my setup:  
Operating system and version:  
-Ubuntu 20.04  
ROS distribution and version:  
-ROS 2 Foxy  
Packages used:  
-osrf/fleet\_adapter\_mir  
-open-rmf/rmf  
I have setup the fleet of my robot on rviz, after submitting a task i get a response from the terminal below:  
Task [loop0] has no submission during bidding.

 ![Screenshot from 2021-06-23 16-05-50](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/a/7/a7b1964e318a3b5bc1a836ca279094db285984c5.png)  
 ![Screenshot from 2021-06-23 16-05-54](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/5/7/57107f8060fbfbc147fccbca43ac232a64c930de.png)

This is the setup on the traffic editor GUI.

 ![Screenshot from 2021-06-23 16-05-31](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/b/f/bf21c550d4f2d7ece9e17eac7c6cd23a8b4b24e0.png)

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<div class="post-metadata">

**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:** [June 24, 2021, 3:42am UTC](https://discourse.openrobotics.org/t/task-has-no-submission-during-bidding-68/44937/2 "2021-06-24T03:42:12Z")

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Posted by @Yadunund:

Hi @jamietjx ,

Are you using the `main` branch of [osrf/fleet\_adapter\_mir](https://github.com/osrf/fleet_adapter_mir) or a custom fork? Because in your first screenshot, it looks like the fleet adapter was not started properly (`error: fleet_adapter_mir : unrecognized arguments....`) and the “usage” suggests passing a `-c` and `-n` parameters. But if you’re using the upstream `main` the usage of the fleet adapter is quite different as you only need to pass a single `config_path` argument as seen [here](https://github.com/osrf/fleet_adapter_mir/blob/701688bea8ead577b756c3f71d8ddf936995041f/main.py#L304-L305)

If you are using `main`, I would like to point out that the fleet adapter is compatible with the outdated [v1.2](https://github.com/osrf/rmf_core/releases/tag/1.2.0) release of RMF. This version does not include the task dispatching/bidding framework that is available in the latest [open-rmf](https://github.com/open-rmf/rmf). Hence, the fleet will not respond to bids for new tasks. More importantly, there are some other known bugs with the `fleet_adapter_mir` which we are fixing along with the API updates. But due to other priorities in the project, we haven’t had a chance to verify the fixes yet. So as such, the `osrf/fleet_adapter_mir` is still a work in progress.

There are a couple ways to move forward:

1. Use the legacy [fleet\_driver\_mir](https://github.com/sharp-rmf/fleet_driver_mir) integration if you’re on a tight timeline. With this approach, you will need to launch the legacy [full\_control](https://github.com/open-rmf/rmf_ros2/blob/main/rmf_fleet_adapter/launch/fleet_adapter.launch.xml) fleet adapter along with the `fleet_driver_mir`. Then the `full_control` fleet adapter will publish `PathRequest` and `ModeRequest` messages to the `fleet_driver_mir` which in turn will control the robot. You can look look at any of the `full_control` [launch files](https://github.com/open-rmf/rmf_demos/tree/main/rmf_demos/launch/include/adapters) in `rmf_demos` to see how to configure the required parameters. While this approach should work for the purposes of your demo, we do not recommend it for any deployments as there are known issues with state estimation among others.
2. Help to update the `fleet_adapter_mir` with the latest `open-rmf` API along with fixes to implementation details. It would be an extremely helpful contribution if ROSI could help us fix the implementation in this repository especially given the access to a physical MIR. This will require more effort but we can provide guidance along the way.