Getting Waypoints of previous plans after cancelling the plan (#439)

Open-RMF Open-RMF General
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Posted by @VigashiniDotworld:

Hii..We generate a plan with different go to waypoints and it is executing well in the success cases.In case of any failure we cancel the plan using its ID and teleop to another waypoint and generate a new plan from that point.But RMF is giving the set of waypoints to reach the failed waypoint and again returning to the current plan. how to resolve this?

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Posted by @VigashiniDotworld:

In case of both success and fail cases after the completion or failure of go to task,when we teleop the robot to another waypoint and generate plan it gives goal to that previous waypoints and begin the new plan Why its happening? Pls help us to solve the issue - version of distro is humble