[ONAV-1771] Add support for on_start / on_stop Mission Tasks #18
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- clearpath_navigation_msgs/Mission.msg has been updated to include 'on_start' and 'on_stop' Task arrays which are executed when the mission begins and ends respectively (on_stop Tasks will execute regardless of mission failure or success) - The CreateTask service has been updated to include 'assign_on_start' and 'assign_on_stop' fields (similar functionality as the 'assign_to' field) - The 'assign_to' field of the CreateTask service has been updated to 'assign_to_wp' to distinguish it from assign_on_start/assign_on_stop - Added the following service endpoints to mission_manager (using the AddRemoveById.srv type): - ~add_task_to_start & ~add_task_to_stop - Adds a task to the on_start/on_stop array for given mission - ~remove_task_from_start & ~remove_task_from_stop - Removes a task from the on_start/on_stop array for given mission Signed-off-by: Stephen Phillips <stphillips@clearpathrobotics.com>
dobrienCP
approved these changes
Oct 25, 2023
tonybaltovski
merged commit b3ea624
into
clearpathrobotics:noetic-devel
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clearpath_navigation_msgs/Mission.msghas been updated to include 'on_start' and 'on_stop' Task arrays which are executed when the mission begins and ends respectively (on_stop Tasks will execute regardless of mission failure or success)CreateTaskservice has been updated to includeassign_on_startandassign_on_stopfields (similar functionality as theassign_tofield)assign_tofield of the CreateTask service has been updated toassign_to_wpto distinguish it from assign_on_start/assign_on_stop~add_task_to_start&~add_task_to_stop- Adds a task to the on_start/on_stop array for given mission~remove_task_from_start&~remove_task_from_stop- Removes a task from the on_start/on_stop array for given mission