Add speed limit to navgraph (#397)

Signed-off-by: Luca Della Vedova <[email protected]>
open-rmf · Oct 14, 2021 · 7009d53 · 7009d53
1 parent 52cc0a6
commit 7009d53
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/rmf_building_map_tools/building_map/level.py b/rmf_building_map_tools/building_map/level.py
@@ -416,6 +416,10 @@ def generate_nav_graph(self, graph_idx, always_unidirectional=True):
             if l.orientation():
                 p['orientation_constraint'] = l.orientation()
 
+            if 'speed_limit' in l.params and \
+                    l.params['speed_limit'].value > 0.0:
+                p['speed_limit'] = l.params['speed_limit'].value
+
             if 'demo_mock_floor_name' in l.params and \
                     l.params['demo_mock_floor_name'].value:
                 p['demo_mock_floor_name'] = \