Repository navigation
feat(rmf_nav2_traffic): add opennav_docking DockRobot/UndockRobot dispatch and pre-dock progress holding - #75
Open
arjo129 wants to merge 1 commit into
Conversation
…patch and pre-dock progress holding 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
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Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be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.
New feature implementation
This PR adds docking capability to the nav2 adapter.
Implemented feature
Here you can see an end to end demo. The most important thing that you see is that while the robot is docking, it does not free up the space it holds till it is fully docked. We also do not allow replanning of the specific robot till the docking is complete.
my_cut_dock_clip.mp4
Implementation description
We hijack the
ActiveInnerGoalto now switch between docking andNavigateToPose. In addition we hijackProgressTracker, during a dock we do not update progress till the dock is complete.Some things to note:
GenAI Use
We follow OSRA's policy on GenAI tools
Generated-by: Gemini 4 Argon