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

3.3.3 (2024-06-15)

3.3.2 (2024-06-15)

3.3.1 (2023-12-22)

• Fix UB in plan squashing (#106)
• Contributors: Grey

3.3.0 (2023-12-15)

• New graph elements and various fixes (#103)

3.2.0 (2023-06-08)

3.1.0 (2023-06-06)

• Switch to rst changelogs (#100)
• Fix multi floor anomaly (#97)
• Fix end_versions initialization capacity error in NegotiatingRouteValidator::Generator::all() function (#58)
• Contributors: 0to1, Grey, Yadunund

3.0.0 (2022-10-03)

• Improve robustness of schedule failover: (#88)
• Allow participant profiles to be changed at runtime: (#87)
• Fix issues with schedule culling and incremental delays: (#86)
• Fix [dependency_resoution]{.title-ref} typo: (#82)
• Quickest path feature: (#84) (#85)
• More graceful error handling: (#71) (#76) (#80) (#81)

2.0.0 (2022-03-18)

• Introduce traffic dependency system: (#70)

1.5.0 (2022-02-14)

• Support lane speed limits: (#44)
• Fix potential race conditions: (#46)
• Add features to facilitate robust failover: (#54)
• Significantly improved performance for very large scale nav graphs: (#53)

1.4.1 (2021-10-27)

• Using eigen3_cmake_module to fix RHEL build: (#47)

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)

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]{.title-ref} utilities

  • [Trajectory]{.title-ref} - Describe a motion through 2D space
  • [Route]{.title-ref} - Describe a path that a robot will follow
  • [Motion]{.title-ref} - Convert a discrete [Trajectory]{.title-ref} into a continuous function

• Provides [rmf_traffic::schedule]{.title-ref} utilities for managing traffic schedules

  • [Database]{.title-ref} - Object for managing a schedule database
  • [Viewer]{.title-ref} - Interface for viewing a schedule database
  • [Writer]{.title-ref} - Interface for writing to a schedule database
  • [Mirror]{.title-ref} - Object for mirroring a schedule database across a distributed system
  • [Snapshot]{.title-ref} - Object that captures a snapshot of a database
  • [Participant]{.title-ref} - Object that manages participation in a schedule
  • [ParticipantDescription]{.title-ref} - Object that describes a participant
  • [Query]{.title-ref} - Object that describes a schedule query
  • [Negotiation]{.title-ref} - Object that manages a traffic negotiation
  • [Negotiator]{.title-ref} - Interface used to respond to negotiation events
  • [StubbornNegotiator]{.title-ref} - An implementation of a [Negotiator]{.title-ref} that refuses to deviate from its path

• Provides [rmf_traffic::agv]{.title-ref} utilities to help AGV fleets integrate with the schedule

  • [Graph]{.title-ref} - Describe the route graph that an AGV is allowed to use
  • [VehicleTraits]{.title-ref} - Describe the kinematic properties of an AGV
  • [Interpolate]{.title-ref} - Interpolate the trajectory of an AGV based on its traits
  • [RouteValidator]{.title-ref} - Interface for determining whether a route is free of conflicts
  • [Planner]{.title-ref} - Object that can generate plans for an AGV that comply with the schedule or that suit a negotiation
  • [SimpleNegotiator]{.title-ref} - An implementation of a [schedule::Negotiator]{.title-ref} 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