Traffic Scheduler Jump at lanes with Speed Limit

[osama-z-salah]

When a lane's speed limit is set to a value (e.g., 0.1), the Traffic Scheduler exhibits unexpected behavior "jumping" over it.

bug.mp4

[mxgrey]

Thanks for reporting this. It appears to be a fluke because of the discrepancy between the speed limit of the lane and the predicted movement of the robot. I've opened open-rmf/rmf_ros2#400 which might be able to help, although it probably won't be perfect.

Could you retry your scenario with the branch of open-rmf/rmf_ros2#400 and let us know how it turns out?