[Bug]: Trajectory provided sometimes starts at origin when leaving lift #65
Description
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 22.04
Open-RMF installation type
Source build
Other Open-RMF installation methods
No response
Open-RMF version or commit hash
main
ROS distribution
Humble
ROS installation type
Binaries
Other ROS installation methods
No response
Package or library, if applicable
No response
Description of the bug
While running the hotel world simulation demo, by running robots up and down the lifts, there is the rare chance that a trajectory segment starting from (0, 0) or (0, #) or (#, 0) will be produced. It is hard to reproduce and goes away on it's own in a few seconds.
Sometimes only either x or y values will be 0, while some times both are 0.
Steps to reproduce the bug
Hard to reproduce
- Run simulation demo of hotel world (perhaps add names to waypoints near the lift to make repeating going up and down faster)
- Run a patrol task between a waypoint on L1 and L2 with a great number of loops
- When a robot trajectory is generated to respond to a request, where the trajectory starts from the lift waypoint, it has a small chance of being produced.
I logged it a little using https://github.com/open-rmf/rmf_visualization/tree/ac/zero-segment
Expected behavior
Trajectory segments should start from the lift waypoint coordinates and not anywhere with a zero coordinate.
Actual behavior
Sometimes the first segment of the trajectory starts from (0,0), which causes a visualization of the rogue trajectory
Additional information or screenshots
Sorry for the bad ss quality,
How we get the trajectory from the dashboard, this is the case where only x was 0
