Posted by @mechdrive:
Hi
The current RMF Traffic Editor interface primarily supports 2D floor plan editing and does not provide a direct option to specify the Z-axis (vertical) coordinate for vertices or robot positions.
for this here can we define in building.yaml file after x and y can we tell the z position so that our robot’s position and teh vertex position which is visible in rviz must be located for that vertical position , if not please tell the solution to do so.
- [1914.686, 675.55, 0, “”]
- [1944.653, 676.5700000000001, 0, charger_cleanerBotE_0, {is_charger: [4, true], is_holding_point: [4, true], is_parking_spot: [4, true], spawn_robot_name: [1, cleanerBotE_0], spawn_robot_type: [1, CleanerBotE]}]
- [1944.648, 645.399, 0, “”]
- [1990.269, 645.721, 0, “”]
- [1990.009, 677.358, 0, charger_cleanerBotE_1, {is_charger: [4, true], is_holding_point: [4, true], is_parking_spot: [4, true], spawn_robot_name: [1, cleanerBotE_1], spawn_robot_type: [1, CleanerBotE]}]
- [1850.375, 734.322, 0, zone_4, {dock_name: [1, zone_4], is_cleaning_zone: [4, true]}]
- [1429.736, 602.524, 0, charger_cleanerBotA_0, {is_charger: [4, true], is_holding_point: [4, true], is_parking_spot: [4, true], spawn_robot_name: [1, cleanerBotA_0], spawn_robot_type: [1, CleanerBotA]}]
- [2068.856, 362.446, 0, “”]
Edited by @mechdrive at 2025-06-06T07:14:05Z
Posted by @aaronchongth:
Hi @mechdrive, it is as you mentioned, the traffic editor drawing tools as well as the .building.yaml schema currently do not support Z positioning for waypoints and robot navigation. In general the current implementation of Open-RMF fleet adapters do not allow robots to update their position in the Z-axis, and assumes all robot to be on a plane.
May we know what is the reason your robots are not on the same Z elevation, and what purpose is of this potential feature?
Posted by @aaronchongth:
Hi @mechdrive, it is as you mentioned, the traffic editor drawing tools as well as the .building.yaml schema currently do not support Z positioning for waypoints and robot navigation. In general the current implementation of Open-RMF fleet adapters do not allow robots to update their position in the Z-axis, and assumes all robot to be on a plane.
May we know what is the reason your robots are not on the same Z elevation, and what purpose is of this potential feature?
Posted by @mechdrive:
Hi @aaronchongth ,
Thank you for confirming that the current Open-RMF implementation assumes robots operate on the same plane. The reason I don’t want robots on the same z elevation is that I’m doing it for warehouse automation, in which this robot is moving in racks, so for that I’m using racks STL so for that I need to keep my robot on some elevation in the z axis
