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"I have a scenario and would like to ask how to implement dynamic loading of map information. For instance, if I add new points and lanes, and modify the automatically generated 0.yaml file using my own code, how can I update the map in RMF without restarting? In a production environment, I consider adjusting the map as a crucial early deployment task. Having to frequently recompile and restart is inconvenient." "If I deploy using Kubernetes, is it feasible to simply restart the Deployment after compiling the latest 0.yaml?" "If you could reply to me, I would greatly appreciate it." |
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The exact thing you're asking for is not supported in the current generation of Open-RMF, although we'll be able to support it in the next generation. We do support a feature that might be sufficient, depending on your use case. If you can anticipate the map changes that you are going to need, then you can use the lane closing and opening features to modify which lanes the robots can use. One of the reasons we don't support arbitrary map changes during runtime is it's very difficult to have sensible recovery behavior if the new map is completely different from the old map. We try to make sure that any stable API feature that we support has as few edge cases as possible. If you need an arbitrary map changing feature urgently, you can fork |
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The exact thing you're asking for is not supported in the current generation of Open-RMF, although we'll be able to support it in the next generation.
We do support a feature that might be sufficient, depending on your use case. If you can anticipate the map changes that you are going to need, then you can use the lane closing and opening features to modify which lanes the robots can use.
One of the reasons we don't support arbitrary map changes during runtime is it's very difficult to have sensible recovery behavior if the new map is completely different from the old map. We try to make sure that any stable API feature that we support has as few edge cases as possible. If you need an arb…