Posted by @cwrx777:
Hi,
I’m no sure how RMF handle the following scenarios:
- the robot is currently performing perform_action task.
- the fleet adapter calls the interrupt api.
- the robot is manually moved to another location (e,g. using robot fleet manager, or pushed manually). after this, assume that the robot location is still correct.
- fleet adapter perform resume.
- fleet adapter receives ‘action_execution_notice’ topic with robot mode request = IDLE.
how can the fleet adapter know the current location?
and if the amr is not performing task, does calling interrupt has any effect? and must it resumed after that?
Edited by @cwrx777 at 2023-02-09T23:32:01Z