Task has no submission during bidding (#68)

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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.

This is the setup on the traffic editor GUI.

[Archive-o-matic]

Posted by @Yadunund:

Hi @jamietjx ,

Are you using the main branch of 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

If you are using main, I would like to point out that the fleet adapter is compatible with the outdated v1.2 release of RMF. This version does not include the task dispatching/bidding framework that is available in the latest open-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 integration if you’re on a tight timeline. With this approach, you will need to launch the legacy full_control 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 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.