[Other issue]: Trajectories are not displayed on the rmf-web map for 'coordinate_system: wgs84' maps

[Hapy-Capy]

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

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

Description

I understand why there is no image rendered for the Campus demo. I don't understand why trajectories are not shown when the campus demo is running tasks. The robot markers do not show up either. The map is received by rmf-web (the vertices are seen below). The websocket is connected properly. Does this have something to do with the 'offset' used? (I.e., are the trajectories being displayed, but in the wrong reference frame, and therefore not localized with the vertices on the rmf-web map?

Does fleet_socketio_bridge or fleet_robotmanager_mqtt_bridge play any role for making this work? The standard Campus demo launch does run the socketio_bridge (I've not modified the original launch):

  <executable cmd="ros2 run rmf_demos_bridges fleet_socketio_bridge -f deliveryRobot -g /gps -y 31500 -x 22000" output="both">
    <env name="FLASK_ENV" value="development"/>
  </executable>

All of the reference_image CRS demos work fine and show trajectories as tasks run. I have not tried to see if trajectories show up with cartesian_meter or web_mercator.

Distro: Jazzy

[aaronchongth]

The trajectories are rendered as each dashboard client establishes a websocket connection to the trajectory server and queries the trajectories. It is different from the websocket connections to receive fleet or task updates.

It would be useful to see if the trajectory server websocket connection was indeed connected. You can verify that by looking into your browser's developer mode console, and do a browser refresh. It should show up whether the connection to localhost:8006 was established.

Does fleet_socketio_bridge or fleet_robotmanager_mqtt_bridge play any role for making this work? The standard Campus demo launch does run the socketio_bridge (I've not modified the original launch):

No.

All of the reference_image CRS demos work fine and show trajectories as tasks run. I have not tried to see if trajectories show up with cartesian_meter or web_mercator

Can you verify if the rviz-based trajectory visualizer work with the campus demo? The trajectory rendered in rviz uses the same concept as the trajectory server providing trajectories to the dashboard

[Hapy-Capy]

As far as I can tell, the connection is successful at localhost:8006 (no error message for ws connection in console). Trajectories are selected to be shown, just to explicitly show I've selected that in visible layers. The trajectories do work correctly in RVIZ.

One more photo showing the console when no demo is running (the websocket is not connected):

[NgNhatHai]

hi i am also having this situation, my web-dashboard not show my map, but i can see my map on Sources,
i am using Jazzy version, so with my version, web-dashboard still show map-demos

Are you have any ways to solve it ?

[aaronchongth]

@NgNhatHai does your map have lanes or walls?
#1072 added a fix recently to set up the view based on those, and will also issue warnings if there are no lanes or walls

[NgNhatHai]

@aaronchongth in my Rviz i can see it

On the web, i can't see any about map

[NgNhatHai]

@NgNhatHai does your map have lanes or walls? #1072 added a fix recently to set up the view based on those, and will also issue warnings if there are no lanes or walls

i try add the wall in building map, and the web showed my map, thank you very much