Fleet task request (#411)

Open-RMF Open-RMF General
1

Posted by @cwrx777:

In the demo, there is only robot_task_request and dispatch_task_request. robot_task_request is for task assignment directly to a robot and dispatch_task_request is for the entire robots across the available fleets.

Does the task dispatcher support tasks that are to be dispatched to a specific fleet? e.g. fleet_task_request?
By default, all fleets support built-in categories such as patrol, go_to_place. Quite often, we need to use those built-in task categories for a particular fleet, but we would want RMF to choose the best robot in the fleet to do the task.

2

Posted by @Yadunund:

I would say this is a reasonable feature request and should be fairly easy to implement:

  1. Add an optional fleet_name field to task_request.json
  2. Update bid_notice_cb to ignore incoming requests where a fleet_name field is present in the bid_notice msg and the value does not match the fleet’s name.

Are you willing to contribute this feature? I can help with reviews.

3

Posted by @cwrx777:

Hi @Yadunund ,
please review the following PRs:

  • open-rmf/rmf_api_msgs#47
  • open-rmf/rmf_ros2#317
  • open-rmf/rmf_demos#201
4

Posted by @mdfesto:

Thanks @cwrx777 for contributing!! :1st_place_medal: