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Fix/docking end #31

Merged
merged 10 commits into from
May 31, 2023
Merged

Fix/docking end #31

merged 10 commits into from
May 31, 2023

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RBinsonB
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Basic Info

Info Please fill out this column
Ticket(s) this addresses Closes #17
Primary OS tested on Ubuntu 22.04
Robotic platform tested on Real MiR100 with Open-RMF running on ROS 2 Humble

How to run this PR feature

  • Reproduce the condition of the linked issue (charge finishing task can't be interrupted #17) with a dock charger. The dock should also be on the Open-RMF map.
  • Build the MiR fleet adapter package (or mount and build on the package in the Open-RMF test docker)
  • Run Open-RMF core and the MiR fleet adapter
  • Send the robot to the charger point

What you should expect:

  • After charge is over, the robot should disconnect from the charger

Description of contribution in a few bullet points

  • The function to queue a docking mission was not returning the response.
  • The flag to signal that charging has started is toggled to true when receiving an API message of the robot charging, but is not switched back to false anymore when the robot finishes charging.

RBinsonB added 6 commits May 2, 2023 14:05
@RBinsonB
Fix orientation error in command
f0d31a5 
The orientation of the transform from RMF to MiR should be added (and not deducted) to the robot orientation in the RMF map frame in order to get the orientation in the MiR map frame.
@RBinsonB
Merge pull request #1 from osrf/main
efe5006 
Add MiRFM fleet adapter package (open-rmf#27)
@RBinsonB
Merge branch 'main' into fix/idle_command_orientation
a68ea06
@RBinsonB
Return the response from the queue docking request
80397fe
@RBinsonB
Switch rmf_docking_executed flag on only (do not switch back to off)
fd8106c
@RBinsonB
Remove extra tabulation
5f68e99
@RBinsonB RBinsonB mentioned this pull request May 23, 2023
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Yadunund
Yadunund suggested changes May 24, 2023
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@Yadunund Yadunund left a comment

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Thanks for fixing this. Minor comments to address. I've opened this ticket to address style changes separately #32

fleet_adapter_mir/fleet_adapter_mir/MiRCommandHandle.py Show resolved Hide resolved
fleet_adapter_mir/fleet_adapter_mir/MiRCommandHandle.py Outdated Show resolved Hide resolved
@RBinsonB RBinsonB requested a review from Yadunund May 24, 2023 13:07
Yadunund
Yadunund approved these changes May 24, 2023
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Thanks for iterating!

@koonpeng/ @xiyuoh any objections to the changes here?

@xiyuoh
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xiyuoh commented May 31, 2023

LGTM! Looks like the MirFM adapter is missing docking_finished_callback() at abort too, will open a new PR for that

@Yadunund Yadunund merged commit 80285b3 into open-rmf:main May 31, 2023
@Yadunund Yadunund mentioned this pull request May 31, 2023
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@RBinsonB RBinsonB deleted the fix/docking_end branch June 2, 2023 10:14
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@Yadunund Yadunund Yadunund approved these changes

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charge finishing task can't be interrupted
3 participants
@RBinsonB @xiyuoh @Yadunund