Posted by @cwrx777:
Hi,
Does rmf_demos_fleet_adapter follow the waypoint timing mentioned here?
In the earlier version of the fleet adapter, the fleet adapter waits until the waypoint time before continuing to the next waypoint.
Chosen answer
Answer chosen by @cwrx777 at 2023-04-11T23:52:51Z.
Answered by @mxgrey:
In the latest version of RMF you no longer need to worry about the waypoint timing. Whenever you receive a path command, every waypoint along that path is available for your robot to move to.
In previous versions it was necessary to wait at each waypoint until the specified time, but there were many things about that approach which were problematic. As a result we introduced a traffic dependency system (which is hidden inside of rmf_fleet_adapter so you don’t need to worry about it) which allows us to know which path segments are safe for your robot to follow, and then we only provide you with those safe segments.