[Other issue]: full control error when we send another level task point to the robot

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Description

Bug log is below

[rmf_task_dispatcher-1] [INFO] [1690445748.475783084] [rmf_dispatcher_node]: Received Task Submission [Photo2] [rmf_task_dispatcher-1] [INFO] [1690445748.475885316] [rmf_dispatcher_node]: Add Task [Photo2] to a bidding queue [full_control-9] [from FleetUpdateHandle ] generate photo requests [full_control-9] [INFO] [1690445748.579082801] [DaystarRobots_fleet_adapter]: Generated Photo request for task_id:[Photo2] [full_control-9] [INFO] [1690445748.579324042] [DaystarRobots_fleet_adapter]: Planning for [1] robot(s) and [1] request(s) [ERROR] [full_control-9]: process has died [pid 185, exit code -11, cmd '/root/server_ws/install/rmf_fleet_adapter/lib/rmf_fleet_adapter/full_control --ros-args -r __node:=DaystarRobots_fleet_adapter --params-file /tmp/launch_params_tso8329k --params-file /tmp/launch_params_fnpq0vj1 --params-file /tmp/launch_params_pp_7ga18 --params-file /tmp/launch_params_m6p4lbye --params-file /tmp/launch_params_fa_70jv4 --params-file /tmp/launch_params_rk6mfklc --params-file /tmp/launch_params_zdxavi0t --params-file /tmp/launch_params_ortiy6u4 --params-file /tmp/launch_params_6mgp6r2s --params-file /tmp/launch_params_56b1n6qf --params-file /tmp/launch_params_m02i7uai --params-file /tmp/launch_params_hwcdrce0 --params-file /tmp/launch_params_shi5xasd --params-file /tmp/launch_params_m7ad6rma --params-file /tmp/launch_params_9bwkrf2z --params-file /tmp/launch_params_o4bayi33 --params-file /tmp/launch_params_r7n2xq9h --params-file /tmp/launch_params__bgtu4k3 --params-file /tmp/launch_params_wfizfn2r --params-file /tmp/launch_params_5xooj1j9 --params-file /tmp/launch_params_j7gxn4ju --params-file /tmp/launch_params_cykwi1bj --params-file /tmp/launch_params_nwmuf_un --params-file /tmp/launch_params_1zbqlion --params-file /tmp/launch_params_stbluyft --params-file /tmp/launch_params_n8708z14 --params-file /tmp/launch_params_8b4cyuwb --params-file /tmp/launch_params_c_36267j --params-file /tmp/launch_params_5qiaprpb --params-file /tmp/launch_params_rjzb9iow']. [rmf_task_dispatcher-1] [INFO] [1690445748.778220007] [rmf_dispatcher_node]: Test 333 [rmf_task_dispatcher-1] [WARN] [1690445748.778303822] [rmf_dispatcher_node]: Dispatcher Bidding Result: task [Photo2] has no submissions during bidding, Task Failed

Below is my project.building.yaml

crowd_sim:
agent_groups:
- {agents_name: [], agents_number: 0, group_id: 0, profile_selector: external_agent, state_selector: external_static, x: 0, y: 0}
agent_profiles:
- {ORCA_tau: 1, ORCA_tauObst: 0.4, class: 1, max_accel: 0, max_angle_vel: 0, max_neighbors: 10, max_speed: 0, name: external_agent, neighbor_dist: 5, obstacle_set: 1, pref_speed: 0, r: 0.25}
enable: 0
goal_sets: []
model_types: []
obstacle_set: {class: 1, file_name: L1_navmesh.nav, type: nav_mesh}
states:
- {final: 1, goal_set: -1, name: external_static, navmesh_file_name: ""}
transitions: []
update_time_step: 0.1
graphs:
{}
levels:
L1:
drawing:
filename: /root/maps/map-Jul20/L1.png
elevation: 0
fiducials:
- [168.112, 176.195, F1]
- [182.539, 154.75, F2]
- [209.443, 160.599, F3]
flattened_x_offset: 0
flattened_y_offset: 0
lanes:
- [5, 6, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}]
- [4, 6, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}]
- [3, 4, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}]
- [4, 7, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}]
layers:
{}
measurements:
- [0, 1, {distance: [3, 1]}]
vertices:
- [0, 0, 0, m1]
- [0, 10, 0, m2]
- [-18.9, 18.9, 0, origin]
- [168.166, 196.236, 0, map-Jul20_L1_p5]
- [182.974, 178.553, 0, map-Jul20_L1_p2]
- [199.605, 190.019, 0, charge, {is_charger: [4, true]}]
- [193.651, 186.026, 0, home]
- [200, 157.4, 0, map-Jul20_L1_p3, {lift_cabin: [1, LF001]}]
L2:
drawing:
filename: /root/maps/lenovoF8/L1.png
elevation: 0
fiducials:
- [256.243, 588.8390000000001, F1]
- [259.255, 539.895, F2]
- [305.941, 515.799, F3]
flattened_x_offset: 0
flattened_y_offset: 0
lanes:
- [3, 4, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}]
layers:
{}
measurements:
- [0, 1, {distance: [3, 1]}]
vertices:
- [0, 0, 0, m1]
- [0, 20, 0, m2]
- [-13.3, 56.3, 0, origin]
- [276.273, 498.022, 0, lenovoF8_L1_charge, {is_charger: [4, true]}]
- [299.554, 535.7, 0, "", {lift_cabin: [1, LF001]}]
lifts:
LF001:
depth: 1
doors:
door1:
door_type: 2
motion_axis_orientation: 0
width: 1
x: 0
y: 0.5
door2:
door_type: 2
motion_axis_orientation: 0
width: 1
x: 0
y: 0.5
highest_floor: L2
initial_floor_name: L1
level_doors:
L1: [door1]
L2: [door1]
lowest_floor: L1
plugins: true
reference_floor_name: L1
width: 1
x: 200
y: 157.4
yaw: 0
name: project

below is the nav graph generate by this project.building.yaml

building_name: project
levels:
L1:
lanes:
- - 0
- 1
- {}
- - 1
- 0
- {}
- - 2
- 1
- {}
- - 1
- 2
- {}
- - 3
- 2
- {}
- - 2
- 3
- {}
- - 2
- 4
- {}
- - 4
- 2
- {}
vertices:
- - 1.060500000000001
- -0.1019000000000041
- {is_charger: true, name: charge}
- - 0.4651000000000032
- 0.2973999999999961
- {name: home}
- - -0.6025999999999989
- 1.0446999999999989
- {name: map-Jul20_L1_p2}
- - -2.0833999999999975
- -0.7236000000000011
- {name: map-Jul20_L1_p5}
- - 1.1000000000000014
- 3.1599999999999966
- {lift: LF001, lift_cabin: LF001, name: map-Jul20_L1_p3}
L2:
lanes:
- - 0
- 1
- {}
- - 1
- 0
- {}
vertices:
- - -16.278444896757062
- 27.98020880144979
- {is_charger: true, name: lenovoF8_L1_charge}
- - -16.40634909121198
- 25.76938720540436
- {lift_cabin: LF001, name: ''}

I am not sure whether my project.building.yaml is right. For the tasks across floors, I have never succeed. However, for the tasks on the same floor, it works well.

Start with project.building.yaml and the generated navigation graph, focusing on the LF001 lift definitions and the L1/L2 vertices and lanes. Reproduce the cross-floor Photo2 task and inspect the full_control process crash in the provided log, comparing it with a same-floor task. Done means identifying whether the building configuration or cross-floor handling causes the failure and confirming that a cross-floor task completes successfully.