Where can we change the waiting times for waypoints?

[TheConstructAi]

When launching a fleet adapter, the waypoints tend to have:

• 5-second waiting time between waypoints, where can we change that?
• When no waypoints are assigned, there is a loop of a 30-second wait, where in the code can we change that or the parameter set in the python adapter?

Do they depend on the linear and angular speeds set for the robot in the config file as well?

[mxgrey]

5-second waiting time between waypoints, where can we change that?

I'm not sure what waiting time you're referring to. Can you elaborate on when and where you're seeing a 5-second wait?

When no waypoints are assigned, there is a loop of a 30-second wait

I think this is referring to the ResponsiveWait behavior which to be honest is a bit of a hack that wasn't meant to exist for as long as it has. Because it was meant to be a temporary hack there isn't an API for it, except to toggle it off entirely. If there's a particular reason for modifying the 30 seconds, it would be pretty easy to add an unstable API to do so, but I'm not sure what the value would be. I don't think you'll see qualitatively better traffic behavior outcomes by using a value that's more or less than 30s.

Do they depend on the linear and angular speeds set for the robot in the config file as well?

The linear and angular speeds only impact the trajectory predictions that the planner generates. They won't have any effect on any waiting behavior that might exist.

[TheConstructAi]

I'm not sure what waiting time you're referring to. Can you elaborate on when and where you're seeing a 5-second wait?

It happens between each waypoint sent. So when the robot moves to the waypoint and reaches it its stays there waiting some seconds until the next waypoint is sent. Is this related to the parameters of linear and angular speed and the planner calculating that that's the time it should take to reach there?

think this is referring to the ResponsiveWait

Exactctly. Having issues with it because it sends the robot a goal every 30 seconds an this shouldn't be specially when the robot is docked ( because it gets our of the dock position). We are going around that by trying to ignore these goals when the robot is docked, but isn't there a better way to tell RMF that the robot is docked and that he doensthave to send goals every 30 seconds? Because otherwise we have to deal with it form the robot server side and even in the RobotHandler.