[Bug]:

[PO4EM]

Before proceeding, is there an existing issue or discussion for this?

• I have done a search for similar issues and discussions.

OS and version

Ubuntu 24.04

Open-RMF installation type

Binaries

Other Open-RMF installation methods

No response

Open-RMF version or commit hash

2.3.0

ROS distribution

Rolling

ROS installation type

Source build

Other ROS installation methods

No response

Package or library, if applicable

No response

Description of the bug

When launching RMF with a modified map and multiple robots, some robots do not complete the registration process with rmf_traffic_schedule. While some robots are successfully added to the fleet, others do not appear to be fully registered, leading to incomplete loading of robots in the traffic management system. This issue began occurring after modifications were made to the map.

Steps to reproduce the bug

1.Launch api server
cd ~/rmf-web/packages/api-server/
pnpm start
2.Launch workspace via Ros2
ros2 launch rmf_demos_gz domodedovo.launch.xml headless:=1 server_uri:=ws://localhost:8000/_internal
domodedovo.launch.xml - the launcher for the map, the source code of which is located in ~/rmf_ws/src/demonstrations/rmf_demos/rmf_demos_gz/.
3.Notice that some robots do not complete the loading process.
ERR.zip - all modified files
link in github - https://github.com/ArtemGorky/open-rmf

Expected behavior

All robots should be fully registered with rmf_traffic_schedule and appear in the traffic visualizer without any issues, even when the server is used to host a modified map.

Actual behavior

Only some robots complete the registration process, while others do not, leading to incomplete or missing robot data in the traffic visualizer. The issue seems to be related to the recent changes made to the map hosted on the server.

Additional information or screenshots

Logs do not show explicit errors but indicate that some robots fail to complete the registration process. Network stability and correct configuration files have been verified. The issue persists even when reducing the number of robots. The problem started after the map was modified and is hosted on a server

[Yadunund]

Hi @PO4EM,

It seems like the error you're reporting arises with your custom fork of rmf_demos which include several modifications.

To rule out the possibility of human error when making changes, could you share steps to reproduce the issue with one of the existing maps from https://github.com/open-rmf/rmf_demos? Kindly also share terminal logs copied into a gist.

If there is a bug in our implementation, we will work on a fix. If the issue is with your fork, we can't commit to debugging your changes but you can likely find help by posting on https://robotics.stackexchange.com/.