Why rmf continues to call follow_new_path every 30 seconds after the robot has reached the specified destination (#296)

Open-RMF Open-RMF General
1

Posted by @[Missing data]:

Hi,

My test scenario is using go_to_place to request the robot to move to the specified destination.
When the robot had reached the destination and callback function path_finished_callback had been invoked, I found rmf still continued to call follow_new_path to the robot at the frequency of once per 30 seconds.
In each such kind of follow_new_path request, there are 2 waypoints. And the two waypoints are the same point. It looks as if rmf commands the robot to stand still.
My question is why rmf will send these follow_new_path periodically?

Thanks
Stella

2

Posted by @mxgrey:

Please see the earlier conversation about the ResponsiveWait behavior: Infinite loop when calling path_finished_callback · open-rmf/rmf · Discussion #70 · GitHub

This can be disabled in the Python API using update_handle.enable_responsive_wait(false).

This is the chosen answer.

3

Posted by @[Missing data]:

ok, thanks