Don't print warning if lift is going to same floor (#89)

Signed-off-by: Luca Della Vedova <luca@openrobotics.org>

rmf_building_sim_common/CHANGELOG.md

@@ -1,5 +1,10 @@
 ## Changelog for package rmf\_building\_sim\_common
 
+2.1.0 (2022-XX-XX)
+------------------
+* Don't print warning if lift is going to same floor ([#89](https://github.com/open-rmf/rmf_simulation/pull/89))
+* Contributors: Luca Della Vedova
+
 2.0.0 (2022-XX-XX)
 ------------------
 * Use ECM instead of traversing sdformat parent for Gazebo doors ([#80](https://github.com/open-rmf/rmf_simulation/pull/80))

rmf_building_sim_common/src/lift_common.cpp

@@ -225,11 +225,18 @@ LiftCommon::LiftCommon(rclcpp::Node::SharedPtr node,
         return;
       }
 
-      if (_lift_request)  // Lift is still processing a previous request
+      // Trigger an error if a request, different from previous one, comes in
+      // Noop if request is the same
+      if (_lift_request)
       {
-        RCLCPP_INFO(logger(),
-        "Failed to request: [%s] is busy at the moment",
-        _lift_name.c_str());
+        if (_lift_request->destination_floor != msg->destination_floor ||
+        _lift_request->request_type != msg->request_type ||
+        _lift_request->session_id != msg->session_id)
+        {
+          RCLCPP_INFO(logger(),
+          "Discarding request: [%s] is busy at the moment",
+          _lift_name.c_str());
+        }
         return;
       }