How can it be deactivated the go to last waypoint behaviour? (#242)

Open-RMF Open-RMF General
1

Posted by @TheConstructAi:

Hi,

This is a very straightforward question:

¿How can the behavior of RMF of returning to the last completed waypoint, be deactivated?
¿Or is it in reality the closes node?

Because if we teleport a simulated robot from its position, RMF moves it again to that waypoint.

How exactly does this behavior work and who is in charge of that?

2

Posted by @mxgrey:

That’s the “responsive wait” behavior and it can be toggled off by passing false into this function which you can call on the RobotUpdateHandle of each robot.

3

Posted by @mxgrey:

However, if you turn off this behavior then a robot which is parked in the middle of a lane will stop participating in the traffic negotiation system, which means it becomes an obstacle to other robots if they are left in the middle of a lane. The simulated robots do not navigate around static obstacles, so they will end up getting permanently stuck.

You could try to get around that by toggling the responsive wait off, then moving it to the new location, and the turning the responsive wait on again. I haven’t tested that use case, but I believe it should work based on how the responsive wait is implemented.

4

Posted by @TheConstructAi:

How can we access this through the python wrapper?

Great! I’ll see into it and tell here how it went :wink:

Edited by @TheConstructAi at 2022-09-27T14:58:13Z