Check if lane request's fleet_name is equal to the fleet's fleet_name (…

…#95) Signed-off-by: lkw303 <lkw303@gmail.com> Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
open-rmf · Oct 12, 2021 · f1af0b4 · f1af0b4
1 parent 50ebc5a
commit f1af0b4
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Showing 2 changed files with 5 additions and 1 deletion.
diff --git a/rmf_fleet_adapter/src/close_lanes/main.cpp b/rmf_fleet_adapter/src/close_lanes/main.cpp
@@ -115,7 +115,7 @@ int main(int argc, char* argv[])
     [&request_complete, fleet_name, close_lanes = std::move(close_lanes)](
       std::unique_ptr<rmf_fleet_msgs::msg::ClosedLanes> msg)
     {
-      if (msg->fleet_name != fleet_name)
+      if (msg->fleet_name != fleet_name && !fleet_name.empty())
         return;
 
       auto still_open = close_lanes;

diff --git a/rmf_fleet_adapter/src/full_control/main.cpp b/rmf_fleet_adapter/src/full_control/main.cpp
@@ -824,6 +824,10 @@ std::shared_ptr<Connections> make_fleet(
       if (!connections)
         return;
 
+      if (request_msg->fleet_name != fleet_name &&
+      !request_msg->fleet_name.empty())
+        return;
+
       connections->fleet->open_lanes(request_msg->open_lanes);
       connections->fleet->close_lanes(request_msg->close_lanes);