Posted by @xiyuoh:
Hello! Since Publish fleet and task updates over ROS 2 if websocket is not provided by aaronchongth · Pull Request #383 · open-rmf/rmf_ros2 · GitHub, task states are being published over ROS 2 via the topic /task_state_update
whether websocket is enabled or not. A sample state update for a robot in Office world being tasked to go to the pantry
:
data: '{"data":{"active":1,"assigned_to":{"group":"tinyRobot","name":"tinyRobot2"},"booking":{"id":"patrol.dispatch-37a2e72cdc","requester":"rmf_demos_tasks","unix_millis_earliest_start_time":0,"unix_millis_request_time":0},"category":"Patrol","completed":[],"detail":"","estimate_millis":34361,"original_estimate_millis":0,"pending":[],"phases":{"1":{"category":"Go to [place:pantry]","detail":"Moving the robot from [graph-wp:10] to [place:pantry]","estimate_millis":34361,"events":{"0":{"deps":[2,3,1,7],"detail":"Moving the robot from [graph-wp:10] to [place:pantry]","id":0,"name":"Go to [place:pantry]","status":"standby"},"1":{"deps":[4,5,6],"detail":"","id":1,"name":"Pass through [door:hardware_door]","status":"standby"},"2":{"deps":[],"detail":"","id":2,"name":"Open [door:hardware_door]","status":"standby"},"3":{"deps":[],"detail":"","id":3,"name":"Move to ( 19.474 -10.3472) < 19.474 -10.3472 -3.10459> through 2 points","status":"standby"},"4":{"deps":[],"detail":"","id":4,"name":"Open [door:hardware_door]","status":"standby"},"5":{"deps":[],"detail":"","id":5,"name":"Move to [graph-wp:10] < 18.7944 -10.3724 -3.10458> through 2 points","status":"standby"},"6":{"deps":[],"detail":"","id":6,"name":"Close [door:hardware_door]","status":"standby"},"7":{"deps":[],"detail":"","id":7,"name":"Move to [place:pantry] < 16.8463 -5.40407 -1.56437> through 8 points","status":"standby"}},"final_event_id":0,"id":1,"original_estimate_millis":24414,"unix_millis_start_time":105020}},"status":"standby","unix_millis_finish_time":139441,"unix_millis_start_time":105020},"type":"task_state_update"}'