Disable a specific waypoint to simulate re-routing of robot's path in real time

[destkk]

Version: Ubuntu 20.04

Hi everyone. I am trying to understand if it is possible to disable a specific way point while the robot's is on route to its location to simulate re-routing real time in this current traffic editor version.

Does anyone done this before or is it currently a work in progress? Can this traffic editor work the similar way as costmap?

Thank you in advance.

[codebot]

The current traffic-editor is a fully offline tool which manipulates YAML files to store (static) annotations to floorplan/map files. Then the building_map_tools Python package generates (static) navigation graph files in metric coordinates from those maps, typically during the build process of a maps package. The resulting navigation-graph files are loaded at startup by a building_map_server ROS 2 node, which distributes the map as needed to other nodes in the system. All of this pipeline currently assumes maps are static. Simulate the removal or disabling of waypoints could be done within individual fleet adapters; I don't think it would be necessary to modify other parts of the system. The fleet adapter could remove a waypoint and then re-plan as desired. I am not aware of anyone having done this already, but it sounds quite do-able. I would suggest working within a custom fleet adapter as the fastest way to make progress.