[Other issue]: Invalid Data in /fleet_states Topic for Real Robot with use_sim_time Set to False

[osama-z-salah]

Before proceeding, is there an existing issue or discussion for this?

• I have done a search for similar issues and discussions.

Description

I am using a real robot (nano500xw02) with use_sim_time set to false, and I am experiencing an issue with the values published in the /fleet_states topic. When I monitor the topic using ros2 topic echo /fleet_states, the values appear unrealistic, specifically:

Battery Percentage: 1.401298464324817e-45
Location (x, y, yaw):
x: 7.507128761641381e+23
y: 0.00036577426362782717
yaw: 7.976202964782715
Here is a sample output from the /fleet_states topic:

nanofleet@nanofleet:~/nrmf_ws$ ros2 topic echo /fleet_states 
name: Robot500xw
robots:
- name: nano500xw02
  model: Robot500xw
  task_id: compose.dispatch-106
  seq: 0
  mode:
    mode: 0
    mode_request_id: 0
  battery_percent: 1.401298464324817e-45
  location:
    t:
      sec: 0
      nanosec: 1105939276
    x: 7.507128761641381e+23
    y: 0.00036577426362782717
    yaw: 7.976202964782715
    obey_approach_speed_limit: true
    approach_speed_limit: -1.5556764602661133
    level_name: ''
    index: 54202487275523
  path: []

API Endpoint Data: Interestingly, when I query the data using the RMF API fleet endpoint, I receive correct and realistic values for the same robot:

[
  {
    "name": "Robot500xw",
    "robots": {
      "nano500xw02": {
        "name": "nano500xw02",
        "status": "working",
        "task_id": "Chargeb459d6",
        "unix_millis_time": 1730083331990,
        "location": {
          "map": "L1",
          "x": 9.743598937988281,
          "y": -5.146598815917969,
          "yaw": 1.56088125705719
        },
        "battery": 0.2906574462890625,
        "issues": [],
        "commission": {
          "dispatch_tasks": true,
          "direct_tasks": true,
          "idle_behavior": true
        },
        "mutex_groups": {
          "locked": [],
          "requesting": []
        }
      }
    }
  }
]

[luca-della-vedova]

If you run an instance of rviz do the robots show in the correct location?

It might be a long shot but from personal experience I had such issues when the terminal / machine where the fleet adapter is running and the machine where I'm running ros2 topic echo have different version of the message files.
This can cause ABI incompatibility (basically misaligned data) that causes the ros2 topic echo machine to receive corrupted data.

Can you confirm that :

• Both commands are being ran on the same machine and / or
• They are using the same Open-RMF version, ROS 2 version

[osama-z-salah]

Yes, they are running on the same machine. In RViz, the robots appear in the correct locations. However, the version of RMF I built is different from my ROS 2 version. I built the jazzy version of RMF from source, but my installed ROS 2 version is Humble, since the RMF in Humble is missing a lot of features.

[luca-della-vedova]

What I would recommend here is to make sure that you do not have any RMF related Humble packages installed, as well as making sure you source the same setup.bash files in both the terminal that you use to run RMF and the one you use to echo the topic.