I’m encountering an issue where RMF sends a robot to a waypoint with an incorrect final orientation. Here’s the specific problem:
When RMF sends the robot to a waypoint, the final orientation in the command is not properly aligned with the next waypoint.
As a result, when the robot reaches the waypoint, it needs to rotate at that point to face the next waypoint.
However, RMF assumes the robot is ready to move to the next waypoint immediately, which causes RMF to end the waiting time for other robots prematurely.
This results in a collision risk, as the robot still needs to rotate before it can proceed to the next waypoint, while RMF assumes it can start moving without rotation.
Steps to reproduce the bug
Set up a fleet where one robot has to navigate through multiple waypoints.
Ensure there is a waypoint where the final orientation is not aligned with the next movement direction.
Observe that RMF releases other robots, assuming the first robot has completed its movement, while the robot is still performing a rotation to align with the next waypoint.
Before proceeding, is there an existing issue or discussion for this?
OS and version
Ubuntu 22.04.3 LTS
Open-RMF installation type
Source build
Other Open-RMF installation methods
No response
Open-RMF version or commit hash
0.0.1
ROS distribution
Rolling
ROS installation type
Source build
Other ROS installation methods
No response
Package or library, if applicable
No response
Description of the bug
I’m encountering an issue where RMF sends a robot to a waypoint with an incorrect final orientation. Here’s the specific problem:
When RMF sends the robot to a waypoint, the final orientation in the command is not properly aligned with the next waypoint. As a result, when the robot reaches the waypoint, it needs to rotate at that point to face the next waypoint. However, RMF assumes the robot is ready to move to the next waypoint immediately, which causes RMF to end the waiting time for other robots prematurely. This results in a collision risk, as the robot still needs to rotate before it can proceed to the next waypoint, while RMF assumes it can start moving without rotation.
Steps to reproduce the bug
Set up a fleet where one robot has to navigate through multiple waypoints. Ensure there is a waypoint where the final orientation is not aligned with the next movement direction. Observe that RMF releases other robots, assuming the first robot has completed its movement, while the robot is still performing a rotation to align with the next waypoint.
Expected behavior
No response
Actual behavior
No response
Additional information or screenshots
No response