Preventing robots stops at each waypoint in straightline

[VigashiniDotworld]

Hello, This is the case where we have to reach four corner waypoints, in this case we dont want robot to stop at each waypoint in the straight line scenarios.Any suggestions to do this?

[mxgrey]

If there are no other robots then it shouldn't stop at each point. It should be commanded to the furthest point.

However you need to make sure that the waypoints are in a "straight" enough line. It looks like they are to my naked eye, but the fact that they're diagonal makes it harder to tell.

If you're using the traffic-editor then select all the waypoints along a line by using shift+click on each one. Then press the slash / key and they will be straightened out.

[VigashiniDotworld]

Thank you i made it straight and checked its working.Any ways to handle the same in intersection points without stopping?

[mxgrey]

I might need you to elaborate on what behavior you're asking for at intersections and how it's different from what RMF currently does.

In general RMF will skip points that are collinear unless the robot needs to stop to avoid a traffic conflict with another robot.

If you're seeing your robot needlessly stop at the waypoints within an intersection then I suggest double-checking whether the points going through the intersection are straight enough by using the / key on them.

[VigashiniDotworld]

The case I'm asking for is,we need a robot to do smooth curve without stopping on waypoints and then making the turn as its little time consuming,Is there any way like they skip collinear points to make the curve without holding?

[mxgrey]

If you're using the classic full control API, you can implement the follow_new_path command to look through the whole path and have your robot follow a smooth path through them, e.g. using a pure pursuit controller. You'll need to make sure you're getting enough feedback from your controller to report progress updates accurately to RMF, and unfortunately that can be tricky.

I'm planning on having better support for this in the next generation.