rmf_traffic package

This package provides functionality for managing traffic in RMF.

Quality Declaration

This package claims to be in the Quality Level 4 category. See the Quality Declaration for more details.

Changelog for package rmf_traffic

Upcoming

• Support lane speed limits: #44

1.4.0 (2021-09-01)

• Mandate use of FCL>=0.6: #39
• Make the stubborn negotiator's strategy more flexible: #40
• Fix participant lifecycles: #35

1.3.0 (2021-05-07)

• Allow a Database to be forked off of a Mirror: #17
• Separate participant descriptions from schedule patches: #14
• Allow navigation graph lanes to be opened or closed: #11
• Add persistence to Traffic Schedule Participant IDs: #242
• Allow a minimum plan finish time to be specified: #307
• Check itinerary endpoints when negotiating: #308

1.2.0 (2021-01-05)

• Improve planner performance scaling for large graphs: #243
• Add the blockade system for traffic light management: #226
• Access trajectory waypoints by element index: #226
• Get trajectory index of each plan waypoint: #226

1.1.0 (2020-09-24)

• Allow a Negotiation Table Viewer to see rejected and forfeited statuses, and to check for a submission: #140
• Improve heuristic to account for events: #159
• Fix an issue with moving robots between floors: #163
• Add a generic waiting event: #158
• Fix bug that caused exit events to get skipped sometimes: #166
• Bump to C++17 and migrate to std::optional: #177
• Contributors: Aaron Chong, Geoffrey Biggs, Grey, Kevin_Skywalker, Yadu, ddengster

1.0.2 (2020-07-27)

• Improved definition of "traffic conflict" for vechiles that start too close: #136

1.0.1 (2020-07-20)

• Allow users to specify a callback for interrupting a planner: #130
• Allow a Negotiation Table Viewer to know when its Table is defunct: #130

1.0.0 (2020-06-23)

• Provides core rmf_traffic utilities
  • Trajectory - Describe a motion through 2D space
  • Route - Describe a path that a robot will follow
  • Motion - Convert a discrete Trajectory into a continuous function
• Provides rmf_traffic::schedule utilities for managing traffic schedules
  • Database - Object for managing a schedule database
  • Viewer - Interface for viewing a schedule database
  • Writer - Interface for writing to a schedule database
  • Mirror - Object for mirroring a schedule database across a distributed system
  • Snapshot - Object that captures a snapshot of a database
  • Participant - Object that manages participation in a schedule
  • ParticipantDescription - Object that describes a participant
  • Query - Object that describes a schedule query
  • Negotiation - Object that manages a traffic negotiation
  • Negotiator - Interface used to respond to negotiation events
  • StubbornNegotiator - An implementation of a Negotiator that refuses to deviate from its path
• Provides rmf_traffic::agv utilities to help AGV fleets integrate with the schedule
  • Graph - Describe the route graph that an AGV is allowed to use
  • VehicleTraits - Describe the kinematic properties of an AGV
  • Interpolate - Interpolate the trajectory of an AGV based on its traits
  • RouteValidator - Interface for determining whether a route is free of conflicts
  • Planner - Object that can generate plans for an AGV that comply with the schedule or that suit a negotiation
  • SimpleNegotiator - An implementation of a schedule::Negotiator that can negotiate for an AGV
• Contributors: Aaron Chong, Boon Han, Charayaphan Nakorn Boon Han, Grey, Luca Della Vedova, Marco A. Gutiérrez, Morgan Quigley, Yadu, Yadunund, koonpeng