Robot will be navigated to the nearest waypoint when go to place task is canceled (#306)

Open-RMF Open-RMF General
1

Posted by @[Missing data]:

Hi,

The robot is executing go_to_place task， then I canceled the task. If at the time the task is canceled, the robot is being on lane, but not on waypoint，the robot will be navigated to the nearest waypoint.

Why not stop the robot at the point where its task is canceled?

Thanks
Stella

2

Posted by @mxgrey:

the robot will be navigated to the nearest waypoint

This is because of the responsive waiting behavior. That link has some information on disabling this behavior.

Why not stop the robot at the point where its task is canceled?

The current planner implementation which is based on navigation graphs with explicitly defined vertices and edges would have some difficulty reasoning about a robot which is sitting idle along an edge. We’re working towards a free space planner for RMF which would be able to have the robot wait anywhere.