Unable to specify parking waypoint for `ParkRobotIndefinitely` request factory

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OS and version

Ubuntu 22.04

Open-RMF installation type

Source build

Other Open-RMF installation methods

No response

Open-RMF version or commit hash

2.0.3

ROS distribution

Humble

ROS installation type

Source build

Other ROS installation methods

No response

Package or library, if applicable

No response

Description of the bug

I want to make some changes in ParkRobotFactory class (currently it is using dedicated_charging_waypoint when a parking waypoint is not passed in, I want to change it to a dedicated parking waypoint so that the robot will be able to park at a dedicated parking waypoint instead of its charger). In order to make that change, I have cloned the rmf_task package from your repo to local, together with your rmf_demos codes, and all packages are building fine. However, when I use ros2 launch rmf_demos_gz_classic office.launch.xml to launch your office demo, all navigation paths are not showing up in Rviz, and the robot is not spawned in the map either. In terminal there is a relevant error message as below.

[fleet_adapter-16] ImportError: /opt/ros/humble/lib/librmf_fleet_adapter.so: undefined symbol: _ZN8rmf_task4Task7BookingC1ENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEENSt6chrono10time_pointINS8_3_V212steady_clockENS8_8durationIlSt5ratioILl1ELl1000000000EEEEEESt10shared_ptrIKNS_8PriorityEERKS7_SG_b
[ERROR] [fleet_adapter-16]: process has died [pid 8350, exit code 1, cmd '/home/agsw/Desktop/teabot-http/install/rmf_demos_fleet_adapter/lib/rmf_demos_fleet_adapter/fleet_adapter -c /home/agsw/Desktop/teabot-http/install/rmf_demos/share/rmf_demos/config/20th_floor/tinyRobot_config.yaml -n /home/agsw/Desktop/teabot-http/install/rmf_demos_maps/share/rmf_demos_maps/maps/20th_floor/nav_graphs/0.yaml -sim --ros-args --params-file /tmp/launch_params_93ybb49j --params-file /tmp/launch_params_d36yp8ry'].

The local rmf_task package shall take priority over the underlay workspace (/opt/ros/humble). And I have tried to clone rmf_fleet_adapter_python package locally with the rmf_demos packages, it is working fine (builds fine, and Rviz launches fine). The issue is only with the rmf_task package. Hope you can shed some light on above error. Suggestions on other approaches to implement that change to ParkRobotFactory class are also welcome! Thanks much in advance.

Steps to reproduce the bug

1. clone rmf_demos codes
2. close rmf_task package, put it alongside with other packages in rmf_demos
3. colcon build, and source install/setup.bash
4. ros2 launch rmf_demos_gz_classic office.launch.xml to launch the office demo
5. navigation paths and robots are not showing up in Rviz

Expected behavior

No response

Actual behavior

No response

Additional information or screenshots

This is the file structure in my workspace.

Start with the ParkRobotFactory class in the rmf_task package and inspect how the local build is resolved against the /opt/ros/humble underlay. Reproduce the failure with ros2 launch rmf_demos_gz_classic office.launch.xml and examine the undefined-symbol error. Done means the local rmf_task build is used successfully and the office demo launches with robots and navigation paths visible.