Decommissioning #233
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Decommissioning #233
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Signed-off-by: Michael X. Grey <grey@openrobotics.org>
Signed-off-by: Michael X. Grey <grey@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
luca-della-vedova
approved these changes
Sep 16, 2022
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This PR adds an experimental API for "decommissioning" robots. After a robot is decommissioned it will no longer accept any new tasks. It will continue performing any tasks that have accumulated in its queue. To clear the tasks that are already in its queue, they will need to be explicitly canceled using the task API.
A decommissioned robot can use the
recommissionfunction at any time to resume accepting new tasks.To have a robot immediately stop performing ongoing tasks, you must use the interrupt, cancel, or kill APIs.