-
Notifications
You must be signed in to change notification settings - Fork 54
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.
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
Adds a simple parking spot management system. #325
Draft
arjo129
wants to merge
27
commits into
main
Choose a base branch
from
arjo/feat/integrated_ressys
base: main
Could not load branches
Branch not found: {{ refName }}
Could not load tags
Nothing to show
Are you sure you want to change the base?
Some commits from the old base branch may be removed from the timeline,
and old review comments may become outdated.
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Signed-off-by: Arjo Chakravarty <arjoc@google.com>
This commit adds the rust reservation system node. It will require the ros2_rust system to be set up. Signed-off-by: Arjo Chakravarty <arjoc@google.com>
This commit adds support for selecting the nearest spot on the same floor. This behaviour is convenient when looking at things from a cancellation perspective. This commit depends on open-rmf/rmf_task#101 Signed-off-by: Arjo Chakravarty <arjoc@google.com>
Signed-off-by: Arjo Chakravarty <arjoc@google.com>
I have not implemented flexible constraints here. If we really need it can do it in a follow up pr. Signed-off-by: Arjo Chakravarty <arjoc@google.com>
Signed-off-by: Michael X. Grey <grey@openrobotics.org>
Signed-off-by: Michael X. Grey <grey@openrobotics.org>
Signed-off-by: Michael X. Grey <grey@openrobotics.org>
Signed-off-by: Arjo Chakravarty <arjoc@google.com>
Going to drop Rust dependency. Currently working mutex into GoToPlace. Signed-off-by: Arjo Chakravarty <arjoc@google.com>
Signed-off-by: Arjo Chakravarty <arjoc@google.com>
Signed-off-by: Arjo Chakravarty <arjoc@google.com>
Removed all the rust code. This is a stop-gap measure for legacy RMF and should prevent erroneous occupation of parking spots. Signed-off-by: Arjo Chakravarty <arjoc@google.com>
This commit adds a stupidly simple parking spot system. It ensures the next location a robot goes to is not occupied. It also publishes currently free parking spots. When combined with #308 it allows a robot to move to the nearest free spot instead of the nearest spot only. note: This PR still needs more testing Depends on: - open-rmf/rmf_internal_msgs#63 Known issues: - When the robots start in simulation not all robots seem to be running the idle task, hence some robot dont end up claiming parking spots. Signed-off-by: Arjo Chakravarty <arjoc@google.com>
Signed-off-by: Arjo Chakravarty <arjoc@google.com>
Signed-off-by: Arjo Chakravarty <arjoc@google.com>
Signed-off-by: Arjo Chakravarty <arjoc@google.com>
I got it to segfault in a fairly reproducible way, I did the following on office world:
This is the log
I wonder if the "try to reserve a resource that is already reserved" is a corner case that causes this instability? |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
New feature implementation
Implemented feature
This commit adds a stupidly simple parking spot system. It ensures the
next location a robot goes to is not occupied. It also publishes
currently free parking spots. When combined with #308 it allows a robot
to move to the nearest free spot instead of the nearest spot only.
note: This PR still needs more testing
Depends on:
Known issues:
the idle task, hence some robot dont end up claiming parking spots.