Auto-generating Traffic Editor Cleaning Tasks Config File #138
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Hi @samuelrawrs Thanks for raising this discussion and sharing your neat approach to deal with the problem. The current implementation of the With the newly merged flexible task system, we're allowing users to build up tasks (even at runtime) using "building blocks" of phases/events. Documentation on this is work in progress but @mxgrey has succinctly covered the parts that will be most relevant to you here Here is an example of how you can submit a "composable task" for cleaning. As you can see, the task definition consists of one GoToPlace followed by one PerformAction event. The descriptions for these events can be found here while the schemas here. (The schemas is what you will need to follow when populating the json fields for the task request) If you look at the description for the We're currently making efforts to enhance the fleet adapters used to control the robots in our simulations and to better reflect ones that will be written in most practical deployments. Here's a sneak peak of how it can be written to accommodate custom PerformActions (teleop in this case). So in summary, with such composable tasks, especially |
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Currently cleaning tasks require a docker_config.yaml file that has to be filled in manually. Everytime you shift the points, you'll have to edit the config file as well 😮💨
I made a python script to generate the yaml file from the building.yaml file but it still has several limitations (for now) like:
I've been told that the long term plan that there is a "new" fleet adapter API that will do away the need for a docker_config file.
Would love to hear more about it @Yadunund !
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