Allow config file to specify initial waypoint name instead of index

[mxgrey]

The config file currently expects an initial waypoint index, but that is not a convenient or reliable way to indicate a starting position, because waypoint indices might change arbitrarily as a nav graph is modified. It would be more user-friendly and more reliable to specify a waypoint name instead.

[selvavignesh-2206]

Is osrf working on this issue right now? We are facing issues for multi level deployment of RMF due to each floor having the same index numbers.

[Yadunund]

We are facing issues for multi level deployment of RMF due to each floor having the same index numbers.

Although you many have multiple levels, the navigation graphs are actually connected between levels and hence the waypoint indices will remain unique.

But to answer your question, I don't believe anyone is working on this at the moment. It should be straight forward to implement as other adapters already do this for the charging waypoint for example. It would be great if you could contribute this feature.