task type and other fields not populated correctly in "/task_summaries" topic

[koonpeng]

Bug report

Tasks published in task_summaries all have task type 0 (station task type), it also publishes an empty string for other fields like start_name and finish_name, it seems like the whole description is being published with a zero initialised value. An example of a loop task being published as a station task:

fleet_name: tinyRobot
task_id: Loop0
task_profile:
  task_id: Loop0
  submission_time:
    sec: 0
    nanosec: 0
  description:
    start_time:
      sec: 0
      nanosec: 0
    priority:
      value: 0
    task_type:
      type: 0
    station:
      task_id: ''
      robot_type: ''
      place_name: ''
    loop:
      task_id: ''
      robot_type: ''
      num_loops: 0
      start_name: ''
      finish_name: ''
    delivery:
      task_id: ''
      items: []
      pickup_place_name: ''
      pickup_dispenser: ''
      pickup_behavior:
        name: ''
        parameters: []
      dropoff_place_name: ''
      dropoff_ingestor: ''
      dropoff_behavior:
        name: ''
        parameters: []
    clean:
      start_waypoint: ''
state: 0
status: 'Finding a plan for [tinyRobot/tinyRobot2] to go to [4] | Remaining phases: 2'
submission_time:
  sec: 0
  nanosec: 0
start_time:
  sec: 40
  nanosec: 52000000
end_time:
  sec: 123
  nanosec: 823499496
robot_name: tinyRobot2

Required information:

• Operating system and version:
  • ubuntu 20.04
• OpenRMF installation type:
  • soruces
• OpenRMF version or commit hash
  • main
• ROS distribution and version:
  • foxy
• ROS installation type:
  • binaries
• Package or library, if applicable:

Description of the bug

Steps to reproduce the bug

1. Listen to /task_summaries topic
2. Create a loop task in the web dashboard

Expected behavior

Actual behavior

Screenshots

Additional information

[Yadunund]

PR #24 addresses this bug but is still under review. In the meanwhile for your testing, you can use the throwaway/demo branch which correctly populates the task_type and relevant fields in the TaskSummary message.

[Yadunund]

Closing since all task states and logs are published over websocket as of #168