Robot named [robot] belonging to fleet [fleet] is very far [4.527969m] from where it is supposed to be, but its remaining path is empty.

[MatteoCarlone]

Required information:

• Operating system and version:
  • Ubuntu22.04
• OpenRMF installation type:
  • Binaries - (rmf-demos from source)
• ROS distribution and version:
  • Humble
• ROS installation type:
  • binaries

Description

I'm working on a create3 robot in a gazebo simulation environment, with NAV2.
I'm integrating the system with rmf using the ROS2 free_fleet client and server.

When submitting a loop task:

ros2 run rmf_demos_tasks dispatch_patrol -p start waypoint --use_sim_time

The robot starts moving towards the waypoint but it diverge from the navigation graph.
When it "arrives" at destination is not on the properly located on the waypoint and I got the following error:
"Robot named [robot] belonging to fleet [fleet] is very far [4.527960m] from where it is supposed to be, but its remaining path is empty. This means the robot believes it is finished, but it is not where it's supposed to be."

Another problem that I see is that the graph lanes and also the robot in the rmf visualization are really small and out of scale.
Do someone know how to fix? Thanks a lot!

that's my repo if you want to have a look!

[Yadunund]

When creating your traffic graph, I presume you used rmf_traffic_editor. if so, did you set a "mesurement" after importing your scan as a floorplan? See tutorial