replan path after lane closure

[MrOCW]

Hi, I have done this in 22.09 with update_handle to force rmf to change the chosen lift for lift taking
However, in the EasyFullControl:
self.update_handle.replan()
AttributeError: 'rmf_adapter.easy_full_control.EasyRobotUpdateHandle' object has no attribute 'replan'

How can I close lanes and replan path in Jazzy?

[MrOCW]

found the solution to use RobotUpdateHandle to replan. Does replan actually replan the whole task sequence or just the current subtask??

[xiyuoh]

Just the current subtask, specifically the robot's GoToPlace phase. The remaining paths taken by the robot will be planned right before it begins the GoToPlace phase.