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Upon investigating the building.yaml file, it seems
Level fiducials were missing which are needed to derive the scale for the second level. Without this, waypoints on higher levels might have retained their pixel-coordinate values.
several waypoint properties had their keys incorrectly modified (_L1 or _L2 were appended)
Level 2F had same elevation as 1F
I've fixed these discrepancies and you can find the updated building yaml below. office_fixed.zip
Let's leave it open until the task planning issue is fixed. There are no scenarios where it's acceptable for the task planner (and more broadly, the fleet adapter) to crash.
Bug report
Required information:
Description of the bug
When a patrol task is sent with waypoints in different floors, the fleet adapter exits silently with no error. The last message it prints is from
rmf_ros2/rmf_fleet_adapter/src/rmf_fleet_adapter/agv/FleetUpdateHandle.cpp
Lines 292 to 300 in 3c17991
Steps to reproduce the bug
office.tar.gz
Extract and start the custom scenario
then send a patrol request
Expected behavior
Successfully plan a path, or fail gracefully if it cannot find one.
Actual behavior
Crashes with no error messages.
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