Diagnostics

eplansys_rmf_probe holds two programs that establish the bridge’s two ends against a real fleet before any ActionExecutorClient exists. state_probe is the receiving end, built on the same WebsocketFeed the bridge uses; submit_probe is the sending end.

state_probe

A websocket server that reads task states and task logs and reports any value carrying a known prefix. That settles whether an epistemic outcome token survives the trip.

ros2 run eplansys_rmf_probe state_probe --port 7879

Flag	Meaning
--port	Port to listen on.
--outcome-prefix	Prefix that marks a value as an epistemic outcome.
--all-logs	Print every log entry, not only those carrying the prefix.
--raw	Print the frames as they arrive.

Point the adapter at it, with the panel switched off:

ros2 launch eplansys_rmf_demo office_fleet.launch.xml \
    use_rmf_panel:=false server_uri:="ws://localhost:7879"

submit_probe

Submits one task pinned to a named robot and prints the booking id it was given. state_probe groups everything it reports under that same id, which is the key the bridge uses to match a finished RMF task to the epistemic action that asked for it.

ros2 run eplansys_rmf_probe submit_probe -F tinyRobot -R tinyRobot1 \
    -p patrol_A1

Flag	Meaning
-F, --fleet	Fleet name.
-R, --robot	Robot name.
-p, --place	Destination waypoint.
-o, --orient	Final orientation.
--dispatch	Send a dispatch_task_request instead and let RMF’s dispatcher choose the robot, for comparison against the pinned path.
--timeout	How long to wait for a response.

Reading the output

[11:32:59] task compose.dispatch-0: assigned to tinyRobot/tinyRobot1
[11:32:59] task compose.dispatch-0: none -> underway
[11:33:00] task compose.dispatch-0: OUTCOME via log: "e-scan-dirty"
[11:33:01] task compose.dispatch-0: underway -> completed

  task     compose.dispatch-0
  category compose
  robot    tinyRobot/tinyRobot1
  status   completed
  outcome  "e-scan-dirty" (via log)

A stock go_to_place task carries no outcome, and the summary says so. To see one, have the fleet adapter’s action executor write the token as shown in Running the survey demo.

PYTHONNOUSERSITE=1 may be needed for anything that launches rmf_demos_panel, whose Flask can be shadowed by a pip --user Werkzeug. Neither probe is affected.