Robot occasionally get stuck in clinic world about rmf_demos HOT 4 OPEN

I can't view the video because Firefox is saying it's corrupt, but I think I've experienced the issue you're describing.

I believe there are certain door-approaching waypoints in the clinic that are too close to the door that they're approaching. As a result, the slotcar's very primitive collision avoidance system is being triggered by the door being closed, and so the slotcar is stopping before it reaches the waypoint that it needs to get to. Also the door won't open until the robot reaches that waypoint. The end result is a deadlock where the door won't open and the slotcar won't approach.

from rmf_demos.

Reuploaded with a gif. Yes, previously some of the waypoints are too close to the doors, and I have shifted those which are too close to the walls/doors.

from rmf_demos.

Ah, in the gif I think the issue may be with the replanning interrupt. This is probably the same issue as this one which will hopefully be resolved by eventually moving the slotcar over to be controlled by a future version of free_fleet.

from rmf_demos.

Yes you are right. I observed this multiple times. In this scenario, the robot was interrupted, also causing it to skip the intended OpenDoor phase after replanning from a different Start waypoint. Which this also explains why the door remains close.

from rmf_demos.