How to update new position of a robot through RobotHandler (#244)

Open-RMF Open-RMF General
1

Posted by @TheConstructAi:

Hi,

I am teleporting a robot to a certain location and I want that the RobotHandler doesn’t try every 30 seconds to move the robot to the last known finished waypoint. I want it to stay where I have placed it ( which is another waypoint ).

Is there a way through the Robothandler python to set a new pose?

2

Posted by @mxgrey:

The teleoperation use case isn’t accounted for (currently) in the demo fleet adapter.

Our usual recommendation for system integrators who want to take manual control of their robot is to put some API hook in their fleet adapter integration that changes the behavior of this function so that when the robot is in teleop mode, the update functions are called based on the robot’s current position.

We’d be happy to accept any contributions that implement this feature for the demo fleet adapter. Adding that feature isn’t on the critical path of any of our current projects, so I don’t know when we’d have time to add it ourselves.