cancel the task

[drsi7213]

hello.
I found a problem with task cancel.
I'm using openRMF by installing source in ros2 humble.

When I ask cancel task, it doesn't stop at once and I have to do it several times to stop or not stop at all.

For comparison, when I tested it on the demo docker, I confirmed that it stopped immediately when I canceled the task.

Please let me know which version I need to install for cancel task to work normally like docker demo.

[aaronchongth]

Hey there @drsi7213 can you provide more information on how you are cancelling the task, and what task is it?

Perhaps more useful pieces of information, just in case it is a communications concern, what is the DDS implementation that you are using? You can attempt to run everything using cyclonedds too, see https://docs.ros.org/en/humble/How-To-Guides/Working-with-multiple-RMW-implementations.html

[drsi7213]

thank you for the answer.

I using rmf_demos(version humble -release , 2.0.4).

and launch the demos.

• source ~/rmf_demos_ws/install/setup.bash
• ros2 launch rmf_demos_gz office.launch.xml

and using rmf_demos_task,

• ros2 run rmf_demos_tasks dispatch_go_to_place -F tinyRobot -R tinyRobot1 -p hardware_2 --use_sim_time
• ros2 run rmf_demos_tasks cancel_task -id

I using rmw_fastrtps_cpp.

I tried to use cyclone dds, I got error like below.

tev: ddsi_udp_conn_write to udp/239.255.0.1:7401 failed with retcode -1

[aaronchongth]

the error sounds like not all your nodes are running on the same rmw implementation,

Launch your demos with cyclonedds too

source ~/rmf_demos_ws/install/setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
ros2 launch rmf_demos_gz office.launch.xml

and in the terminal you are using to run and cancel your task as well

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

ros2 run rmf_demos_tasks dispatch_go_to_place -F tinyRobot -R tinyRobot1 -p hardware_2 --use_sim_time

ros2 run rmf_demos_tasks cancel_task -id

[drsi7213]

thanks a lot !!

I confirmed cancel task is immediately adapted.

[aaronchongth]

oh and as a side note, you will need to use the same RMW implementation wherever you are running ROS 2 on your system, and that includes rmf-web as well

so run the export line too before you start the api-server,

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# source your RMF workspace
cd rmf-web/packages/api-server
pnpm start