Can't generate more than one navigation graph in traffic-editor (#473)

Open-RMF Open-RMF General
1

Posted by @AlessandroCapobianco:

Hi everyone!

I’m trying to edit the demo office world and I would like to add a second navigation graph, to do this I add a second graph in traffic-editor, run the build of rmf_demos_maps and in this way through CMake file 1.yaml is generated and saved in /build/rmf_demos_maps/maps/office/nav_graphs and in /install/rmf_demos_maps/share/rmf_demos_maps/maps/office/nav_graphs.

Why doesn’t this second graph appear in rvitz and is not used for planning?

Thank you all

2

Posted by @Yadunund:

Why doesn’t this second graph appear in rvitz and is not used for planning?

The navigation graph visualized in RViz is published by the fleet adapter relying on this nav graph. So unless you start a second fleet adapter and pass it the generated navgraph, it will not visualized in RViz.