Issues with MiR Entering Lift

[sajidmohd717]

Hi, we are having a problem with sending the robot into the lift.

In our case, we are sending the robot from LVL6 to LVL1, rmf manages to create a path from level6 to level1. And the robot manages to go all the way up till in front of the lift at level 6.

The moment it tries to go into the lift, the code and the robot just goes into limbo and we don't know what is going on. It doesn't create any new move missions for MiR whatsoever. It seems like it is waiting for something to happen.

We managed to simulate a lift adapter as well as change the lift states with accordance to what rmf is requesting. We have set the lift_state current floor to be level 6 (current floor of robot) and the doorState to be open. But this does not seem to be helping. There is no apparent changes except that on rviz, we can see the lift image and the state of the lift.

So we just want to get some help with regards to this situation. How does the fleet adapter react with the lift and why is the fleet adapter not creating new missions for it to go into the lift even after we simulated the lift to be on the same level.

ROS Version: Humble
RMF Version: 22.09
Ubuntu Version: 22.04
Code: Everything is very much similar to the current code you have on your repository, very minimal changes made by us.