About the tolerance scope of report interval and next_arrival_duration (#343)

Open-RMF Open-RMF General
1

Posted by @[Missing data]:

Hi, @Grey

I know I need to update the robot_state and next_arrival_duration periodically. I want to know what is the tolerance scope for the report interval and next_arrival_duration value？ That is to say, within that tolerance scope, RMF can work normally.

And could you please help list the related configuration parameters with traffic planning and conflict negotiation?

Thanks
Stella

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Posted by @mxgrey:

A good rule of thumb is to update at around 1-2 Hz. There isn’t much value in a higher update frequency then that, and a lower frequency will probably make traffic patterns less smooth. But if you’re experiencing significant traffic misbehavior, it is probably not related to update frequency.

For next_arrival_duration I strongly recommend simply taking the robot’s distance from its next target waypoint and divide by its nominal velocity (the velocity that you set when calling add_fleet) to calculate the time estimate.

And could you please help list the related configuration parameters with traffic planning and conflict negotiation?

I’m not sure what you’re asking for here. You are forced to fill in all relevant configuration parameters when initializing your fleet adapter. The purpose of each parameter is documented in the C++ header that it comes from.