AMRs Planner/Navigation/Orchestration in OpenRMF

[ItamarEliakim-R]

Hey,

Great to be part of this awesome community :)

I would love to know more about the plans regarding AMRs as part of future RMF releases -

• Are there any plans to allow more autonomy capabilities? For example, obstacle avoidance, NAV2 waypoint navigation.
• Will the obstacle avoidance plan be integrated into the RMF planner as feedback to improve the efficiency of floorplan planning? For example, Upon navigating under a certain task, If there is an obstacle between nodes 2->3, does the robot plan to send it back to the RMF traffic planner to notify the future units within the same space?
• How will these capabilities change the planner's methods/logic? I know there are plans to switch to a 'Free Zone' configuration instead of guided by lanes. Does it plan to work based on the current infrastructure? Is there any branch we can look into and provide our insights/enhancements on those aspects?
• Given these new features, are there plans to change the existing architecture of the negotiations, bidding, and task deployment?

Thanks,
Itamar