Update GoToPlace to allow finding nearest spot
#308
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This commit adds support for selecting the nearest spot on the same floor. This behaviour is convenient when looking at things from a cancellation perspective. This commit depends on open-rmf/rmf_task#101 Signed-off-by: Arjo Chakravarty <arjoc@google.com>
Signed-off-by: Arjo Chakravarty <arjoc@google.com>
I have not implemented flexible constraints here. If we really need it can do it in a follow up pr. Signed-off-by: Arjo Chakravarty <arjoc@google.com>
This pr depends on: * open-rmf/rmf_task#101 * open-rmf/rmf_ros2#308 You can ask a robot to go to its nearest spot using the newly added script. Signed-off-by: Arjo Chakravarty <arjoc@google.com>
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Thanks for working on this! Tried it out with the demos script and it's working for me 👍 I see that having the final selected destination to be on the same map is a requirement in the code itself because of the lack of API for constraints. Right now it seems like if all the locations provided are on a different map from the robot, the first place provided will be the destination. Should we not make this behaviour a default and allow the robot to take lifts? Or is this only temporary until the constraints API are added in? |
Signed-off-by: Michael X. Grey <grey@openrobotics.org>
Signed-off-by: Michael X. Grey <grey@openrobotics.org>
| @@ -67,8 +69,20 @@ void add_patrol( | |||
| std::make_move_iterator(place.errors.begin()), | |||
| std::make_move_iterator(place.errors.end())); | |||
| } | |||
| auto desc = GoToPlace::Description::make_with_multiple(goals); | |||
| auto desc = GoToPlace::Description::make_for_one_of(goals); | |||
| return {desc, errors}; | |||
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| return {desc, errors}; |
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Move this line below, otherwise the description would return before accounting for the constraints
| desc->prefer_same_map(true); | ||
| } | ||
| } | ||
| } |
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| } | |
| } | |
| return {desc, errors}; |
| { | ||
| for (const auto& constraint : constraints.value()) | ||
| { | ||
| if (constraint["type"].get<std::string>() == "prefer_same_map") |
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Constraint property should be category instead of type according to the schema
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I can't believe I messed up my own schema.
Signed-off-by: Michael X. Grey <grey@openrobotics.org>
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Thanks for catching those constraint parsing errors @xiyuoh . I've made the fixes and run simulation tests to confirm that the |
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I've opened a related PR for |
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On another note for code readability's sake, should we move the GoToPlace description out of |
To keep the diff down and get this merged quickly let's keep it as-is, but I'm open to shuffling that around if we ever touch this code again. |
This commit adds a stupidly simple parking spot system. It ensures the next location a robot goes to is not occupied. It also publishes currently free parking spots. When combined with #308 it allows a robot to move to the nearest free spot instead of the nearest spot only. note: This PR still needs more testing Depends on: - open-rmf/rmf_internal_msgs#63 Known issues: - When the robots start in simulation not all robots seem to be running the idle task, hence some robot dont end up claiming parking spots. Signed-off-by: Arjo Chakravarty <arjoc@google.com>
This commit adds a stupidly simple parking spot system. It ensures the next location a robot goes to is not occupied. It also publishes currently free parking spots. When combined with #308 it allows a robot to move to the nearest free spot instead of the nearest spot only. note: This PR still needs more testing Depends on: - open-rmf/rmf_internal_msgs#63 Known issues: - When the robots start in simulation not all robots seem to be running the idle task, hence some robot dont end up claiming parking spots. Signed-off-by: Arjo Chakravarty <arjoc@google.com>
New feature implementation
Implemented feature
This commit adds support for selecting the nearest spot on the same
floor. This behaviour is convenient when looking at things from a cancellation perspective, one may want to go to the nearest parking spot for instance.
This commit depends on open-rmf/rmf_task#101
Note: While the schema supports contraints, we don't yet have an API to express such constraints, hence by default it will always use the same floor constraint.