Accommodate finishing task

[Yadunund]

PR open-rmf/rmf_task#28 allows for a RequestFactory to be supplied when task allocation planning. The request generated by the RequestFactory is automatically appended to the end of the task queue for all agents. This is very useful when you want robots in a fleet to always perform a certain task after finishing other requested tasks. For example, if we do not want robots to remain idle after their last performed task and instead want them to recharge their batteries, we can supply the ChargeBatteryFactory to the task planner which will automatically append a ChargeBattery task to the end of the robot's task queues.

This PR:

• Update FleetUpdateHandle::set_task_planner_params() to optionally accept a RequestFactory
• Updates full_control launch file and src to allow users to set the fleet adapter's task planner with either ChargeBatteryFactory or ParkRobotFactory

[mxgrey]

These changes look good to me, although I think it's highlighting the need to switch to dynamically defined tasks instead of these static task types.

We just need to wait for open-rmf/rmf_task#28 before merging.

[mxgrey]

Looks great!

I'm going to merge open-rmf/rmf_task#28 first and then watch CI on this PR to make sure it's all good before merging.

[codecov]

Codecov Report

Merging #108 (0ab9951) into main (0a4fd20) will decrease coverage by 0.06%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##             main     #108      +/-   ##
==========================================
- Coverage   21.97%   21.90%   -0.07%     
==========================================
  Files         414      414              
  Lines       33086    33168      +82     
  Branches    16022    16080      +58     
==========================================
- Hits         7271     7267       -4     
- Misses      18008    18087      +79     
- Partials     7807     7814       +7     

Flag	Coverage Δ
tests	21.90% <ø> (-0.07%)	⬇️

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Impacted Files	Coverage Δ
..._fleet_adapter/src/rmf_fleet_adapter/ParseArgs.cpp
...f_ros2/rmf_task_ros2/test/bidding/test_SelfBid.cpp
...wgi4/rmf_ros2/rmf_fleet_adapter/test/test_Task.cpp
...raffic_ros2/src/rmf_traffic_ros2/schedule/Node.cpp
...s2/src/rmf_traffic_ros2/schedule/MirrorManager.cpp
...adapter/src/rmf_fleet_adapter/phases/DockRobot.cpp
..._rxcpp/RxCpp-4.1.0/Rx/v2/src/rxcpp/rx-observer.hpp
...eet_adapter/rmf_rxcpp/include/rmf_rxcpp/RxJobs.hpp
...rc/rmf_fleet_adapter/jobs/detail/impl_Planning.hpp
...src/rmf_fleet_adapter/jobs/detail/impl_Rollout.hpp
... and 818 more