Remove nav graph for fleet manager and update Office world #263
Conversation
This file contains 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
Signed-off-by: Xiyu Oh <xiyu@openrobotics.org>
Signed-off-by: Xiyu Oh <xiyu@openrobotics.org>
xiyuoh
changed the title
luca-della-vedova
approved these changes
Oct 14, 2024
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
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Outdated suggestions cannot be applied.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.
The current Fleet Manager node takes in two arguments: fleet config file and navigation graph file. The latter is not being used anywhere throughout the code. This PR removes this argument from the script and the fleet adapter launch file. This would also allow us to use the fleet manager node for fleets without navigation graphs, e.g. read-only fleets.
Additionally this PR also slightly modifies the current Office world. Currently there exists a path between waypoints
patrol_A1andpatrol_B, but in Gazebo the path is blocked by chairs and MiR models. 73cd00f modifies the nav graph lanes such that the robots can go topatrol_Busing an unblocked path. Some of the Drawer models along the bottom of the Office world were also removed/moved to make space for robot patrol.Before:
After:
