[Bug]: Conflict Based Search Solver unable to solve some test cases.
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Assessment
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Newbie friendliness
- 35/100
Research direction
Start by running the attached example from the gist against commit 0748f265521264d55babd9fe76c6efa555441baf on Ubuntu 22.04 with ROS Rolling. Trace the Conflict Based Search solver while reproducing the junction scenario, focusing on why agent A cannot wait for agents B and C. Done means the example produces a valid solution with A waiting at its starting location.
Written by the indexing model from the issue text.
Description
Before proceeding, is there an existing issue or discussion for this?
- I have done a search for similar issues and discussions.
OS and version
Ubuntu 22.04
Open-RMF installation type
Source build
Open-RMF version or commit hash
0748f265521264d55babd9fe76c6efa555441baf
ROS distribution
Rolling
ROS installation type
Source build
Description of the bug
Planner unable to correctly solve certain instances.
Steps to reproduce the bug
Run the example that I have attached here: https://gist.github.com/arjo129/344d62ee1082919cb4b10f444f4d8ca1. The solver is unable to solve it.
Expected behavior
I expect agent A to wait at its starting location while waiting for B and C to head into the junction to give way to it. Instead, we cannot find a solution.
- Dominant language
- Rust
- Stars
- 82
- Forks
- 15
- PR merge metrics
- No merged PRs in 30d
Getting set up
- No Dockerfile or Docker Compose file
- No pull request template
- Read the contributing guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
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