How to skip waypoints with obstacles (#398)

Open-RMF Open-RMF General
1

Posted by @miharaka:

I tried Multiple control with open-rmf and nav2. If an obstacle exists at waypoint, robots collide. I understand that the cause is that the waypoint is a temporary destination.

When the problem occurs, Can I clear that destination setting and change the destination to next waypoint?

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Posted by @StetroF:

If an obstacle exists at waypoint, robots collide
I think if you use Nav2 with lidar.Then it should detect the obstacl in local costmap so that it won’t collide.Then stop nearby. But there is a phenomenon that once Nav2 stop nearby with the specify point.Then RMF will think that it didn’t reach the specify point. Then continously resend the request until it reach that point.
It is because that RMF didn’t subscribe the lidar’s message so it didn’t know there is an obstacle in that point.So perhaps this package can help you
https://github.com/open-rmf/rmf_obstacle_detectors

Edited by @StetroF at 2023-10-12T01:59:23Z