Cannot change robot speed on different lanes
BaraOilBalm opened this issue · comments
BaraOilBalm commented
Hi
I am trying to change the speed of the robot when passing different lanes. I have set the speed of lanes on traffic-editor. My robot is using free_fleet_client to receive data from free_fleet_server.
- [216, 215, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0.5]}]
- [186, 215, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0.5]}]
- [215, 198, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0.5]}]
- [212, 186, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0.3]}]
- [197, 220, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
- [220, 187, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
- [217, 188, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
- [188, 220, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
- [200, 187, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
- [212, 221, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0.5]}]
- [221, 216, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0.5]}]
- [221, 187, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
When viewing the /fleet_state as the robot passes the lanes, there is no change in the obey_approach_speed_limit message and approach_speed_limit message. Is there a way to allow robot to change speed as it passes lanes with different speed_limit?
task_id: '302'
seq: 0
mode:
mode: 2
mode_request_id: 0
battery_percent: 99.0
location:
t:
sec: 369
nanosec: 920000000
x: 43.530635833740234
y: -19.39431381225586
yaw: -1.8339184522628784
obey_approach_speed_limit: false
approach_speed_limit: 0.0
level_name: L1
index: 0
path:
- t:
sec: 368
nanosec: 3149896
x: 43.351749420166016
y: -19.40717124938965
yaw: -1.5812199115753174
obey_approach_speed_limit: false
approach_speed_limit: 0.0
level_name: L1
index: 0
- t:
sec: 371
nanosec: 551502622
x: 43.33673095703125
y: -20.847936630249023
yaw: -1.5812199115753174
obey_approach_speed_limit: false
approach_speed_limit: 0.0
level_name: L1
index: 0
- t:
sec: 374
nanosec: 485743624
x: 43.33673095703125
y: -20.847936630249023
yaw: -0.0006752533954568207
obey_approach_speed_limit: false
approach_speed_limit: 0.0
level_name: L1
index: 0
- t:
sec: 385
nanosec: 86780916
x: 48.303916931152344
y: -20.851289749145508
yaw: -0.0006752533954568207
obey_approach_speed_limit: false
approach_speed_limit: 0.0
level_name: L1
index: 0