Fix priority assignment

Signed-off-by: Yadunund <yadunund@gmail.com>
open-rmf · Mar 24, 2023 · 10f1afe · 10f1afe
1 parent 84f96d1
commit 10f1afe
Showing 1 changed file with 7 additions and 3 deletions.
diff --git a/rmf_fleet_adapter/src/rmf_fleet_adapter/agv/FleetUpdateHandle.cpp b/rmf_fleet_adapter/src/rmf_fleet_adapter/agv/FleetUpdateHandle.cpp
@@ -238,7 +238,7 @@ std::shared_ptr<rmf_task::Request> FleetUpdateHandle::Implementation::convert(
       rmf_traffic::Time(std::chrono::milliseconds(t_it->get<uint64_t>()));
   }
 
-  rmf_task::ConstPriorityPtr priority;
+  rmf_task::ConstPriorityPtr priority = nullptr;
   const auto p_it = request_msg.find("priority");
   if (p_it != request_msg.end())
   {
@@ -252,10 +252,14 @@ std::shared_ptr<rmf_task::Request> FleetUpdateHandle::Implementation::convert(
         if (p_value.is_number_integer())
         {
           if (p_value.is_number_integer() && p_value.get<uint64_t>() > 0)
+          {
             priority = rmf_task::BinaryPriorityScheme::make_high_priority();
+          }
+          else
+          {
+            priority = rmf_task::BinaryPriorityScheme::make_low_priority();
+          }
         }
-
-        priority = rmf_task::BinaryPriorityScheme::make_low_priority();
       }
     }