search

inorbit-ai / ros_amr_interop

BSD 3-Clause "New" or "Revised" License
80 stars 27 forks source link

[VDA5050] Navigate Through Nodes #44

Open bobbleballs opened 1 year ago

bobbleballs commented 1 year ago

Is there any plan to enable navigation through VDA5050 nodes & edges? Perhaps the NavigateToNode action could be updated to include a list of Nodes and Edges that are released and without blocking actions? The adaptor could then do what it wants with this list, I don't think much should change regarding the feedback/states but the adaptor will need to report when it has travelled through nodes.

I think this would allow for a much smoother navigation experience as it will mean the agent would not have to stop/start at each node as it currently does. This could also enable interesting behaviours from the Master Controller when you take horizons etc into account.

Below is section 6.10.2 from the VDA5050 2.0.0 Standard which details that the vehicle should be moving all the time when there are no blocking edge or node actions.

image

bobbleballs commented 1 year ago

FYI I've started having a go at this. If I come up with a suitable solution I will offer a PR.