8000 Make RMF navgraph lanes collinear and move deliveryRobot1 spawn location by Yadunund · Pull Request #90 · osrf/nexus · GitHub
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Make RMF navgraph lanes collinear and move deliveryRobot1 spawn location #90

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Merged
merged 1 commit into from
Apr 29, 2025
Merged

Make RMF navgraph lanes collinear and move deliveryRobot1 spawn location #90

merged 1 commit into from
Apr 29, 2025

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Yadunund
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This PR

  • Removes a floating waypoint that was not connect to the graph
  • Makes waypoints in rows and columns colinear so that RMF will guide the robot to the destination waypoint while skipping the intermediate waypoints
  • Move the spawn waypoint of deliveryRobot1 to the top of the map (spread out the robots)

Before:

Screenshot 2025-04-28 at 10 43 47 PM

After:

Screenshot 2025-04-28 at 11 02 06 PM

@Yadunund
Make lanes collinear and move deliveryRobot1 spawn location
9718725 
Signed-off-by: Yadunund <yadunund@gmail.com>
@Yadunund Yadunund requested a review from aaronchongth April 29, 2025 06:05
aaronchongth
aaronchongth approved these changes Apr 29, 2025
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Sweet! LGTM. If it ever crops up again, we can eye-ball the numbers and just match the decimal points too, since most of the waypoints are kinda in a grid

@Yadunund Yadunund merged commit 094b202 into main Apr 29, 2025
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@Yadunund Yadunund deleted the yadu/cleanup-rmf-graph branch April 29, 2025 17:17
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@aaronchongth aaronchongth aaronchongth approved these changes

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@Yadunund @aaronchongth
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