Modifications to support refactor of rmf_task #51
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Signed-off-by: Yadunund <yadunund@openrobotics.org>
Signed-off-by: Yadunund <yadunund@openrobotics.org>
Signed-off-by: Yadunund <yadunund@openrobotics.org>
Signed-off-by: Yadunund <yadunund@openrobotics.org>
Signed-off-by: Yadunund <yadunund@openrobotics.org>
Signed-off-by: Yadunund <yadunund@openrobotics.org>
…e or deployment_time Signed-off-by: Yadunund <yadunund@openrobotics.org>
youliangtan
approved these changes
May 10, 2021
arjo129
pushed a commit
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Oct 12, 2021
* Initial changes Signed-off-by: Yadunund <yadunund@openrobotics.org> * Changes after Request::Model Signed-off-by: Yadunund <yadunund@openrobotics.org> * Updated python bindings Signed-off-by: Yadunund <yadunund@openrobotics.org> * Update fleet adapter launch Signed-off-by: Yadunund <yadunund@openrobotics.org> * Better logic for clean task in fleet adapter Signed-off-by: Yadunund <yadunund@openrobotics.org> * Update make() for requests Signed-off-by: Yadunund <yadunund@openrobotics.org> * Start next task if time now is greater than either earliest_start_time or deployment_time Signed-off-by: Yadunund <yadunund@openrobotics.org> Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
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This PR makes suitable changes to the fleet adapter to accommodate open-rmf/rmf_task#15
Summary of changes:
FleetUpdateHandle::account_for_battery_drain()andFleetUpdateHandle::set_recharge_threshold(). These properties for task planning are now set using the enhancedFleetUpdateHandle::set_task_planner_params(). If users wish to toggle battery drain or modify the recharge threshold, they may callset_task_planner_params()again.deployment_timeeven though the task'searliest_start_timehas passed df32614RobotContext,TaskManagerandrmf_fleet_adapter::tasks::<TASKS>to accommodate refactorfull_controland launch file