[Bug]: Planned future path (green line on robot lanes) not showing up in all other simulations except the demo office

[Jerrybaoyilei]

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

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

OS and version

Ubuntu 22.04

Open-RMF installation type

Binaries

Other Open-RMF installation methods

No response

Open-RMF version or commit hash

2.1.2

ROS distribution

Iron

ROS installation type

Binaries

Other ROS installation methods

No response

Package or library, if applicable

No response

Description of the bug

When running demo simulations that are not the office simulation (for example, airport terminal or hotel), the planned path for robots (marked as green line on top of robot lanes) never show up. However, in the office simulation, they do show up.
When I echoed the relevant topic, and the coordinate messages are published when running the office simulation, but nothing is published when running other simulations.

Steps to reproduce the bug

Launch the simulations normally and send any task to a robot. Wait until robot moves and observe.

Expected behavior

No response

Actual behavior

No response

Additional information or screenshots

No response

[Yadunund]

Could you share your launch commands? Also which RMW were you using?

[Jerrybaoyilei]

Below are what I ran to start the airport terminal simulation:

1. After sourcing the setup.bash file inside the install folder, I ran ros2 launch rmf_demos_gz_classic airport_terminal.launch.xml to launch the airport terminal simulation.
2. Then, in a new terminal window, I sourced the setup.bash file again, and then ran ros2 run rmf_demos_tasks dispatch_delivery -p mopcart_pickup -ph mopcart_dispenser -d spill -dh mopcart_collector --use_sim_time (one of the task commands listed in rmf_demos repo)

What is RMW? I am only using ROS 2 Iron and Open-RMF's Iron binary. Everything is in the rmf_demos repo, and I installed the 2.1.2 version of RMF following the official guide.