Skip to content

Add a --start-at-departure option for dispatch_go_to_place #331

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
arjo129 merged 3 commits into from
Oct 7, 2025
Merged

Add a --start-at-departure option for dispatch_go_to_place #331

Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
1e37f9b
Add a --start-at-departure option for dispatch_go_to_place
mxgrey Sep 24, 2025
a366553
fix style
mxgrey Sep 24, 2025
c207f98
Merge branch 'main' into start-at-departure
mxgrey Sep 24, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
12 changes: 12 additions & 0 deletions rmf_demos_tasks/rmf_demos_tasks/dispatch_go_to_place.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -105,6 +105,15 @@ def __init__(self, argv=sys.argv):
'setting.'
),
)
parser.add_argument(
'--start-at-departure',
action='store_true',
help=(
'Request the robot to not start going to its destination '
'until the task start time has been reached, rather than '
'trying to arrive at the destination at the task start time.'
)
)

self.args = parser.parse_args(argv[1:])
self.response = asyncio.Future()
Expand Down Expand Up @@ -171,6 +180,9 @@ def __init__(self, argv=sys.argv):
{'category': 'prefer_same_map'}
]

if self.args.start_at_departure:
go_to_description['start_at_departure'] = True

go_to_activity = {
'category': 'go_to_place',
'description': go_to_description,
Expand Down