feat(rmf_plan_executor): allow plan execution with uncommanded robots in fleet - #54
Open
arjo129 wants to merge 1 commit into
Conversation
… in fleet - Remove ready_to_execute precondition requiring plans for all robots - Update bounding_box and trajectory generation to treat uncommanded robots as stationary at latest odometry pose - Add test_uncommanded_robot_execution unit test Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Bug fix
Builds on #53
Fixed bug
Currently, there is a need for all robots to receive a destination before they execute any plan. This was done initially to make testing consistent while prototyping. However the condition was never removed when
Fix applied
Removed the precondition and allow individual agents to move on their own
It is recommended to use the web based demos to test this new updated functionality.
GenAI Use
We follow OSRA's policy on GenAI tools
Generated-by: Gemini