rmf_fleet_adapter package

This package contains the various fleet adapter nodes for different levels of control. Using specific messages from rmf_fleet_msgs, it communicates with proprietary fleet drivers and managers through ROS 2.

Quality Declaration

This package claims to be in the Quality Level 4 category. See the Quality Declaration for more details.

Changelog for package rmf_fleet_adapter

2.9.0 (2024-11-27)

• Add reached API to read-only fleet adapter (#387)
• Fix lift disruption issue (#393)
• Allow automatic action cancellation to be toggled (#392)
• Adds a simple parking spot management system. (#325)
• Publish fleet and task updates over ROS 2 if websocket is not provided (#383)
• Allow robot-specific finishing request and specify parking spots (#379)
• Issue relocalization command if the robot is on the wrong map (#316)
• set request_time in lift end session request. (#385)
• Update _last_active_task_time if robot is executing task (#384)
• Populate [Booking.Priority]{.title-ref}, added schema to validate [Priority]{.title-ref} (#381)
• Emergency trigger to use transient local qos (#341)
• Add a timeout before automatically releasing lift (#369)
• Configure strict lanes (#367)
• Only fail on_cancel deserializations when none of the activities are possible (#378)
• Fix a minor typo in fleet adapter error log (#307)
• Provide an API that says the robot's lift destination (#376)
• Populate LiftProperties for Destination in localize callbacks (#373)
• Revert "Event based lift / door logic (#320)" (#372)
• Update with new RobotMode field (#345)
• Quiet cancel API (#357)
• Contributors: Aaron Chong, Arjo Chakravarty, Grey, Luca Della Vedova, Xiyu, cwrx777

2.8.0 (2024-06-12)

2.7.1 (2024-06-11)

• Fix charging status (#347)
• Contributors: Grey

2.7.0 (2024-06-01)

• Fix race condition for ingesting/dispensing and disable uncrustify tests by default (#362)
• Event based lift / door logic (#320)
• Filter DoorOpen insertion by map name (#353)
• Fix schema dictionary used during robot status override (#349)
• Add fleet-level reassign dispatched tasks API (#348)
• Automatically begin or cancel idle behavior when commission changes (#346)
• Disable automatic retreat (#330)
• Manual release of mutex groups (#339)
• Stabilize commissioning feature (#338)
• Release other mutexes if robot started charging (#334)
• Support labels in booking information (#328)
• Fix interaction between emergency pullover and finishing task (#333)
• Contributors: Aaron Chong, Grey, Luca Della Vedova, Xiyu, Yadunund

2.6.0 (2024-03-13)

• Removes a line of dead code (#322)
• include cstdint header (#331)
• Add Backward-ROS for improved logging in event of segfaults (#327)
• Explicitly specify all qos depth (#323)
• Add support of fleet-level task (#317)
• Fix minor logging error (#318)
• Contributors: Arjo Chakravarty, Teo Koon Peng, Yadunund, cwrx777

2.5.0 (2023-12-22)

• Fix edge case when starting on a lane (#312)
• Update [GoToPlace]{.title-ref} to allow finding nearest spot (#308)
• Contributors: Arjo Chakravarty, Grey

2.4.0 (2023-12-15)

• Mutex Groups, localization hook, dynamic charging, and new graph elements (#310)

2.3.2 (2023-08-28)

• Improve linking time (#297)
• EasyFullControl API (#235)
• Contributors: Grey, Luca Della Vedova, Xiyu, Yadunund

2.3.1 (2023-08-10)

• Remove duplicate task schemas (#294)
• Fix comparator for direct assignment ordering (#288)
• Adding initiator and request time to booking (#267)
• Contributors: Aaron Chong, Omar Hamza, Yadunund

2.3.0 (2023-06-08)

2.2.0 (2023-06-06)

• Fix race condition related to the finished callback of perform_action events: (#273)
• Switch to rst changelogs (#276)
• Contributors: Grey, Yadunund

2.1.5 (2023-05-20)

• Reformat code to meet expectations of uncrustify-0.72.0: (#274)
• Contributors: Yadunund

2.1.4 (2023-04-27)

2.1.3 (2023-04-26)

• Fix emergency response for waiting robots: (#253)
• Properly cleanup emergency pullover task: (#258)
• Fix priority assignment when parsing tasks: (#265)
• Link Threads to fix build errors on certain platforms: (#204)
• Contributors: decada-robotics, Luca Della Vedova, Grey, Yadunund

2.1.2 (2022-10-10)

2.1.0 (2022-10-03)

• Add API to update speed limits for lanes: (#217)
• Make async behaviors more robust: (#228)
• Allow fleet adapters to change schedule participant profiles: (#229)
• Allow robots to be decommissioned from the task dispatch system: (#233)
• Allow manual toggling of stubborn negotiation: (#196)
• Allow users to specify a custom update listener: (#198)
• Introduce [WaitUntil]{.title-ref} activity and use it in the `ResponsiveWait`: (#199)
• Better support for patrol behaviors: (#205)
• Allow [ResponsiveWait]{.title-ref} to be enabled and disabled: (#209)
• Publish the navigation graph of the fleet adapter: (#207)
• Allow robot status to be overridden by the user: (#191)
• Add API to report status for `perform_action`: (#190)
• Add APIs for cancelling and killing tasks from the `RobotUpdateHandle`: (#205)
• Add a WaitUntil event and use it for ResponsiveWait: (#199)

2.0.0 (2022-03-18)

• Update to traffic dependency system: (#188)

1.5.0 (2022-02-14)

• Support flexible task definitions (#168)
• Add lane speed limit to graph parsing function (#124)
• Support for geojson graphs (#142)

1.4.0 (2021-09-01)

• Add read_only_blockade adapter: (#110)
• Accommodate finishing tasks: (#108)
• Check if lane request's fleet_name is equal to the fleet's fleet_name: (#95)
• Find nearest waypoint among starts: (#98)

1.3.0 (2021-06-07)

• Add API for opening and closing lanes: (#15)

  • Added [open_lanes]{.title-ref} and [close_lanes]{.title-ref} CLI tools for issuing requests

• Allow Traffic Light APIs to update the location of a robot while it is idle: (#270)
• Allow TrafficLight and EasyTrafficLight API to update battery level: (#263)

• Migrating to a task dispatcher framework: (#21)

  • The [rmf_fleet_adapter::agv]{.title-ref} component interacts with a dispatcher node over topics with [rmf_task]{.title-ref} prefix as specified in [rmf_fleet_adapter/StandardNames.hpp]{.title-ref}
  • Support for executing tasks at specified timepoints
  • Support for [Loop]{.title-ref}, [Delivery]{.title-ref}, [Clean]{.title-ref} and [ChargeBattery]{.title-ref} tasks

• Introduce ResponsiveWait: (#308)

  • The new ResponsiveWait task phase can be used to have idle/waiting robots respond to schedule conflicts
  • Idle robots (robots that do not have an assigned task) will automatically enter ResponsiveWait mode

1.2.0 (2021-01-05)

• Automatically publish fleet states from the fleet adapter API: (#232)
• Easy Traffic Light API: (#226)
• Gridlock-proof Traffic Light Implementation: (#226)

1.1.0 (2020-09-24)

• Traffic Light API: (#147) (#176) (#180)
• Allow fleet adapters to adjust the maximum delay: (#148)
• Full Control Fleet Adapters respond to emergency alarm topic: (#162)
• Migrating to ROS2 Foxy: (#133)
• Contributors: Chen Bainian, Grey, Kevin_Skywalker, Marco A. Gutiérrez, Rushyendra Maganty, Yadu

1.0.2 (2020-07-27)

• Always respond to negotiations: (#138)

1.0.1 (2020-07-20)

• Interrupt dangling negotiation planning efforts to reduce memory usage: (#130)
• Trim the amount of system memory that is committed to a fleet adapter after each task: (#130)

1.0.0 (2020-06-23)

• Provides [rmf_fleet_adapter]{.title-ref} library

  • The [rmf_fleet_adapter::agv]{.title-ref} component can be used to develop a custom "Full Control" fleet adapter
  • [rmf_fleet_adapter/StandardNames.hpp]{.title-ref} specifies topic names that are used for RMF integration

• Provides a prototype [read_only]{.title-ref} fleet adapter implementation

  • This will be deprecated in the future in favor of a C++ API
  • To use this fleet adapter, you must implement a "read-only fleet driver" to talk to the fleet adapter using [rmf_fleet_msgs]{.title-ref}

• Provides a deprecated [full_control]{.title-ref} fleet adapter implementation

  • This is made to be backwards compatible with "full-control fleet drivers" that were developed in the early stages of RMF
  • New users should prefer to implement their own fleet adapter using the [rmf_fleet_adapter::agv]{.title-ref} API

• Uses rxcpp to make the fleet adapters reactive and multi-threaded
• Has a known memory leak issue which will be resolved in a later release
• Contributors: Aaron Chong, Charayaphan Nakorn Boon Han, Marco A. Gutiérrez, Grey, Yadu, Yadunund, koonpeng, methylDragon