Replan path after lane closure (#530)

Open-RMF Open-RMF General
1

Posted by @MrOCW:

Hi, I have done this in 22.09 with update_handle to force rmf to change the chosen lift for lift taking
However, in the EasyFullControl:
self.update_handle.replan()
AttributeError: 'rmf_adapter.easy_full_control.EasyRobotUpdateHandle' object has no attribute 'replan'

How can I close lanes and replan path in Jazzy?

Edited by @MrOCW at 2024-09-19T09:58:04Z

Chosen answer

Answer chosen by @MrOCW at 2024-09-26T05:54:02Z.
Answered by @xiyuoh:

Just the current subtask, specifically the robot’s GoToPlace phase. The remaining paths taken by the robot will be planned right before it begins the GoToPlace phase.

2

Posted by @MrOCW:

found the solution to use RobotUpdateHandle to replan. Does replan actually replan the whole task sequence or just the current subtask??

Edited by @MrOCW at 2024-09-20T07:39:12Z

3

Posted by @xiyuoh:

Just the current subtask, specifically the robot’s GoToPlace phase. The remaining paths taken by the robot will be planned right before it begins the GoToPlace phase.

This is the chosen answer.