Provide example for robot-specific finishing request (#255)

* Provide example for robot-specific finishing request Signed-off-by: Xiyu Oh <[email protected]> * Change parking_spot to waypoint_name Signed-off-by: Xiyu Oh <[email protected]> --------- Signed-off-by: Xiyu Oh <[email protected]>
open-rmf · Nov 27, 2024 · b100888 · b100888
1 parent 11e5d9d
commit b100888
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/rmf_demos/config/office/tinyRobot_config.yaml b/rmf_demos/config/office/tinyRobot_config.yaml
@@ -37,6 +37,10 @@ rmf_fleet:
   robots:
     tinyRobot1:
         charger: "tinyRobot1_charger"
+        finishing_request: # Optionally define any robot-specific finishing request. Overrides the fleet-wide setting.
+          type: "park" # [park, charge, nothing]
+          waypoint_name: "supplies" # This is a required field if the finishing_request type is "park"
+        responsive_wait: False # Should responsive wait be on/off for this specific robot? Overrides the fleet-wide setting.
     tinyRobot2:
         charger: "tinyRobot2_charger"
         # No mention of responsive_wait means the fleet-wide setting will be used