Posted by @TheConstructAi :
Hi,
Trying to make Action execution work , but having issues related to mak it work with the provided examples and guidelines :
opened 10:41AM - 06 Apr 23 UTC
bug
## Bug report
### Required information:
- Operating system and version:
U… buntu 22
- OpenRMF installation type:
source
- OpenRMF version or commit hash
main
- ROS distribution and version:
Humble
- ROS installation type:
binaries
### Description of the bug
I'm executing the fleet_adapter and its working the loop tasks. But when I send an action via the command:
`ros2 run rmf_demos_tasks dispatch_action -s center -a clean -ad '{ "clean_task_name": "clean_hallway", "clean_mode": "heavy_cleaning" }'`
I get the correct message of :
`
WARN] [1680777445.711771310] [ecobot_command_handle]: Accepting action: {'category': 'clean', 'description': {'clean_mode': 'heavy_cleaning', 'clean_task_name': 'clean_hallway'}, 'unix_millis_action_duration_estimate': 60000, 'use_tool_sink': False}
`
from https://github.com/open-rmf/fleet_adapter_ecobot/blob/main/fleet_adapter_ecobot/fleet_adapter_ecobot.py#L139
But it doesn't transcend into calling the : https://github.com/open-rmf/fleet_adapter_ecobot/blob/main/fleet_adapter_ecobot/EcobotCommandHandle.py#L437
So I don't know where is the issue unless there is something that I'm missing here or its note intended to be used like this.
And if we send the `manual_control`command, happens the exact same thing:
`ros2 run rmf_demos_tasks dispatch_action -a manual_control -ad '{ "fleet_name": "cleanerBotA" }'`
Tutorial, but not giving a clear example of how to use it: User-defined Tasks - Programming Multiple Robots with ROS 2
Is there someone that has a working example of using this to perform a custom action outside using the docking tag or hacky dispenser/ingestor trick? So a plain clear example of how to use this that works?
It would help a lot to clarify how this sis supos to be used.