Fix dispatch command acknowledgment message publishing#508
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yutaroha wants to merge 3 commits intoopen-rmf:mainfrom
Open
Fix dispatch command acknowledgment message publishing#508yutaroha wants to merge 3 commits intoopen-rmf:mainfrom
yutaroha wants to merge 3 commits intoopen-rmf:mainfrom
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…execution Signed-off-by: fsi.hayashi <yutaroha@fsi.co.jp>
Signed-off-by: fsi.hayashi <yutaroha@fsi.co.jp>
Reverts the double coordinate transformation fix applied in 6bfa983, restoring internal_RobotUpdateHandle.hpp to its prior state. Signed-off-by: fsi.hayashi <yutaroha@fsi.co.jp>
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Bug fix
Fixed bug
In
dispatch_command_cb, when task reassignment succeeds, the acknowledgment message was published withsuccessalways beingfalse(the default value). A local copymsgwas created fromdispatch_ackandmsg.success = truewas set, but the originaldispatch_ack(without the flag) was mistakenly published instead ofmsg.Fix applied
Changed
dispatch_ack_pub->publish(dispatch_ack)todispatch_ack_pub->publish(msg)in the success callback ofreassign_dispatched_tasksinFleetUpdateHandle.cpp.Note on behavioral impact
This fix does not change observable behavior in the current implementation. The Dispatcher's
handle_dispatch_ack()(Dispatcher.cpp:998) does not check thesuccessfield of the acknowledgment message — it only usesdispatch_idandcommand.typeto process the response, treating any received acknowledgment as an indication of success.It may be worth considering whether the Dispatcher should inspect the
successfield and handle failure cases (e.g., logging an error or retrying the dispatch command) rather than unconditionally advancing the task state toDispatched.