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I'm using the full_control fleet adapter unchanged. I'm not sure about the normal behavior of a robot. So, if a robot receives a /robot_path_request, I suppose it first stores the list of locations in its path. As and when it completes the items in the list, it removes the item from the list. And when it reaches its final destination, it should clear the last location in its path list. Now, when the path list is empty ([]), how does it announce that it is ready or free to accept new tasks? |
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When the path list is empty, the legacy fleet adapter will interpret that to mean that the robot has arrived at its destination as you can see here in the code. I do want to emphasize that the legacy fleet adapter is not the recommended way to integrate with RMF. It should only be used for curiosity and learning purposes, not as a way to integrate a new robot platform with RMF in the long term. |
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When the path list is empty, the legacy fleet adapter will interpret that to mean that the robot has arrived at its destination as you can see here in the code.
I do want to emphasize that the legacy fleet adapter is not the recommended way to integrate with RMF. It should only be used for curiosity and learning purposes, not as a way to integrate a new robot platform with RMF in the long term.