Remove nav graph for fleet manager and update Office world #263
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Signed-off-by: Xiyu Oh <[email protected]>
Signed-off-by: Xiyu Oh <[email protected]>
xiyuoh
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luca-della-vedova
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Oct 14, 2024
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The current Fleet Manager node takes in two arguments: fleet config file and navigation graph file. The latter is not being used anywhere throughout the code. This PR removes this argument from the script and the fleet adapter launch file. This would also allow us to use the fleet manager node for fleets without navigation graphs, e.g. read-only fleets.
Additionally this PR also slightly modifies the current Office world. Currently there exists a path between waypoints
patrol_A1andpatrol_B, but in Gazebo the path is blocked by chairs and MiR models. 73cd00f modifies the nav graph lanes such that the robots can go topatrol_Busing an unblocked path. Some of the Drawer models along the bottom of the Office world were also removed/moved to make space for robot patrol.Before:
After:
