Add send/cancel goal action and write documentation#36
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camistolo wants to merge 7 commits intocamistolo/set-initial-posefrom
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Add send/cancel goal action and write documentation#36camistolo wants to merge 7 commits intocamistolo/set-initial-posefrom
camistolo wants to merge 7 commits intocamistolo/set-initial-posefrom
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camistolo
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Jan 14, 2026
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| import rmf_adapter.plan as plan | ||
| import rmf_adapter.schedule as schedule | ||
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| from rmf_fleet_msgs.msg import DockSummary |
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Removed unused libraries
camistolo
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Jan 14, 2026
| password: "some_password" | ||
| limits: | ||
| linear: [0.4, 0.2] # velocity, acceleration | ||
| linear: [0.8, 0.2] # velocity, acceleration |
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Increased the velocity to check if the robot moved faster, will need to double check this value
camistolo
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Jan 14, 2026
| robot_handler.publish_initial_pose() | ||
| all_initial_poses_published = all_initial_poses_published and robot_handler.initial_pose_published | ||
| if all_initial_poses_published: | ||
| self._initial_pose_timer.cancel() |
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Only cancel the timer when all initial poses have been published on the robots
camistolo
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Jan 14, 2026
| andino1: | ||
| x: -1.158 | ||
| y: 2.0 | ||
| x: -1.0889 |
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Checked new values from gazebo
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Jan 14, 2026
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Used office.pgm from the andino_gz repository to create this png file and make sure the map used by Open RMF matches the one used by nav2 and Gazebo
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Signed-off-by: camistolo <camistolo@gmail.com>
Signed-off-by: camistolo <camistolo@gmail.com>
Signed-off-by: camistolo <camistolo@gmail.com>
Signed-off-by: camistolo <camistolo@gmail.com>
Signed-off-by: camistolo <camistolo@gmail.com>
Signed-off-by: camistolo <camistolo@gmail.com>
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Signed-off-by: camistolo <camistolo@gmail.com>
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Description
Add the remaining code for the fleet manager and robot handler to send/cancel a goal to the action of the corresponding robot selected by RMF