Posted by @aaronchongth:
for example I can use compose task with phases: go_to_place → perform_action(docking, make MODE_DOCKING) → perform_action(charge, make MODE_CHARGING)
Custom actions for the free fleet adapter is currently being worked on, and it will allow for exactly this form of tasks. However the caveat is the actions will be implementation specific. For example, we intend to first implement the actions for nav2’s default docking/undocking (which is supported by the turtlebot4, as well as any other stacks that implement the standard), which will already start the charging sequence.
The upcoming perform actions setup will be plugin-based, so users can implement their own actions, that composed task phases can target.
In rmf_web, there are STATUS cells in the status bar of the robot, I want to learn how to manage this status forcibly using the rmf api
That will be implemented based on the action plugins as well, each custom action will be able to modify the robot’s status during the course of the action to be correctly reflected on the dashboard
edit: if you’d like to dig a little deeper into what this all means, we already have something similar implemented for the fleet_adapter_mir
, fleet_adapter_mir/fleet_adapter_mir_actions/fleet_adapter_mir_actions at main · open-rmf/fleet_adapter_mir · GitHub, which we hope to flesh out as part of the core API and implementation of Open-RMF
edit again: apologies, I was answering with general perform actions in mind, however for docking and charging specifically, it is part of the core actions by RMF, and users won’t need to send a task to do it specifically. It can be set as an automatic idle behavior. This is just not yet implemented by the free fleet adapter
Edited by @aaronchongth at 2025-03-21T03:22:13Z