multi-level managment

[txlei]

this should be in the discussion page under Q&A category

Like to know for this fleet adapter implementation, does it manage multiple levels in a single navigation graph? for example, in the create_move_coordinate_mission method, it assumes that the all missions would be at the same level indicated by the start.map_name param configured in the mir_config.yaml.

It is because currently the mir rest API doesnt have a function to switch between different levels? Only briefly looked at swagger document so apologies if I didnt look hard enough.

[txlei]

@mxgrey should i move this to the open-rmf repo?

[mxgrey]

The MiR API definitely can handle multiple floors/maps, but I think the team working on this fleet adapter hasn't needed that feature yet, so it hasn't made its way into the adapter. Someone will need to research the appropriate API calls for changing the map when the robot reaches a new floor.

I think it's fair to call this an issue in the fleet_adapter_mir repo and just leave this ticket open here until it gets resolved. We'll probably transfer this whole repo over the open-rmf organization very soon.