Publish WaitForCharge phase completed #502
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Signed-off-by: Xiyu Oh <xiyu@openrobotics.org>
1 task
mxgrey
reviewed
Jan 24, 2026
| { | ||
| StatusMsg msg; | ||
| msg.state = msg.STATE_COMPLETED; | ||
| msg.status = "Completed phase [" + active->_description + "]"; |
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Small nitpick but this is meant to be brief message that indicates the status of this phase specifically. I think it's a bit excessive to print out the entire phase description. When a user sees this status message, it will already be nestled inside the context of this phase.
A simpler message such as Reached intended battery charge would probably serve better. As it stands, this message would end up looking something like
Completed phase [Charging [TinyRobot/TinyRobot_1] to [90%]]
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Targets open-rmf/rmf_demos#343
Currently when a robot is assigned a Charge task (as finishing request or as emergency charging when its battery SOC falls below a threshold), the task would begin and ends only when
When the Charge task ends, its Status remains in
Standbyinstead of being marked asCompleted. While this does not affect the robot's behavior (it can still proceed to execute subsequent tasks), the task status is reflected on the web dashboard and can be misleading. Over time the dashboard's Tasks tab can look like this, with the Charge tasks unresolved:(Charge tasks are those dated 1 Jan 1970)
This PR publishes a final StatusMsg to mark WaitForCharge with
STATE_COMPLETEDbefore moving onto the next phase.