Editing the navigation graph (#315)

Open-RMF Open-RMF General
1

Posted by @abylikhsanov:

Hi,

I wonder if there is a possibility to edit the already created nav graph? I believe adding a new waypoing and edge lane is not an issue however for deleting the waypoints and edges might be tricky. I thought to just check whether no robot is on that edge or waypoint and only then remove that from the existing graph.

2

Posted by @mxgrey:

In the traffic editor, you should be able to select a traffic lane or vertex and press the Del (delete) key. When deleting a vertex, there must not be any walls, lanes, measurements, or anything else using that vertex before you can delete it.

3

Posted by @abylikhsanov:

@mxgrey I am more interested to be able to do that in the code itself. I have noticed that there is a LaneClosure class that has the function to open or close the lane which in theory should be enough as if node is not connected rmf wouldnt be able to use it anyway.

Can you point me the correct way by using the library itself to safely remove the node or edge?