Posted by @cwrx777:
I encountered ‘Insufficient battery capacity’ error as seen below. Based on the battery system config in the fleet adapter config, it does not make sense for this error to occur.
fleet adapter log:
[fleet_adapter_mircw-1] [INFO] [1661835028.372622392] [DeliveryRobot_fleet_adapter]: [Bidder] Received Bidding notice for task_id [patrol.dispatch-0]:[{"category":"patrol","description":{"places":["location_A","location_B"],"rounds":1},"unix_millis_earliest_start_time":0}]
[fleet_adapter_mircw-1] [INFO] [1661835028.375209393] [DeliveryRobot_fleet_adapter]: Planning for [1] robot(s) and [1] request(s)
[fleet_adapter_mircw-1] [ERROR] [1661835028.375902793] [DeliveryRobot_fleet_adapter]: [TaskPlanner] Failed to compute assignments for task_id [patrol.dispatch-0] due to insufficient battery capacity to accommodate one or more requests by any of the robots in this fleet.
rmf core log:
[rmf_task_dispatcher-11] [INFO] [1661835028.204518526] [rmf_dispatcher_node]: Add Task [patrol.dispatch-0] to a bidding queue
[rmf_task_dispatcher-11] [INFO] [1661835028.372098692] [rmf_dispatcher_node]: - Start new bidding task: patrol.dispatch-0
[rmf_task_dispatcher-11] [WARN] [1661835037.572271624] [rmf_dispatcher_node]: Dispatcher Bidding Result: task [patrol.dispatch-0] has no submissions during bidding. Dispatching failed, and the task will not be performed.
[rmf_task_dispatcher-11] [ERROR] [1661835037.572421624] [rmf_dispatcher_node]: No submission error[1]: {"category":"Not feasible","code":9,"detail":"[TaskPlanner] Failed to compute assignments for task_id [patrol.dispatch-0] due to insufficient battery capacity to accommodate one or more requests by any of the robots in this fleet."}
fleet adapter config:
limits:
linear: [0.7, 0.75] # velocity, acceleration
angular: [0.6, 2.0] # velocity, acceleration
profile: # Robot profile is modelled as a circle
footprint: 0.325 # radius in m
vicinity: 0.375 # radius in m
reversible: False # whether robots in this fleet can reverse
battery_system:
voltage: 24.0 # V
capacity: 400.0 # Ahr
charging_current: 8.8 # A
mechanical_system:
mass: 70.0 # kg
moment_of_inertia: 40.0 #kgm^2
friction_coefficient: 0.20
ambient_system:
power: 20.0 # W
tool_system:
power: 0.0 # W
recharge_threshold: 0.20 # Battery level below which robots in this fleet will not operate
recharge_soc: 1.0 # Battery level to which robots in this fleet should be charged up to during recharging tasks
publish_fleet_state: True
account_for_battery_drain: True
The robot is at X.
Edited by @cwrx777 at 2022-08-30T05:06:44Z