Failed to Bid a Task

[shubhamnagla]

Hi everyone,

So I was trying to control two similar robots in an environment, Which I created in the traffic-editor following this tutorial.

Now the problem I am facing is that I am able to spawn both the robots inside the gazebo simulation, Also can see both the robots on the individual graphs in rviz.

But now when I try to give the task from the web interface. Sometimes the robot 2 runs the task successfully sometimes the robot 1.

And sometimes the task gets failed and I get the following message on the terminal:

[rmf_task_dispatcher-10] [WARN] [1622549252.733772543] [rmf_dispatcher_node]: Dispatcher Bidding Result: task [Loop2] has no submissions during bidding, Task Failed

I have also specified the parameters for the full-control fleet.

And, when one of the robots is working or moving for a task the other robot goes idle why so?

I am using Ubuntu 20.04 LTS with Ros2 Foxy. I used this repository's readme file for installation of openRMF. I used this tutorial for the installation of the ros2.

The traffic-editor map:

The robots are being spawned at igtbot_charger1 and igtbot_charger2

Link to the launch file: https://drive.google.com/file/d/1BpMrgxNF0zabfaHMIqVMJxmPjpzwWWLL/view?usp=sharing

Link to the building.yaml file: https://drive.google.com/file/d/1MKPqnoGc5AV2Lqmjv2gfuX3NkDEsaoMD/view?usp=sharing

Please help

[Yadunund]

Hi there,

Could you share the details of the task that you requested along with the entire terminal output?

If I were to guess, you're requesting for the robots to loop between room2 and another waypoint. In this case the robot on Graph 1 (blue) is the only one that accepts the task. This is because of an error you have in connecting Graph 0 (green). If you look at the screenshot below, the red circle highlights a broken graph. So the two vertices that nearly overlap are not connected by any lanes. I would recommend deleting one of the vertices and ensuring the graph is fully connected.