Why when a fleetadapter is launched, although the susbcriber to task_api_request is the rmf_dispatcher, the fleet_adapter_node also appears as subscriber? #332
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ros2 topic info /task_api_requests --verbose Publisher count: 1 Node name: simple_api_server Subscription count: 2 Node name: rmf_dispatcher_node Node name: ecobot_fleet_adapter |
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Some API requests are handled directly by the fleet adapters and not by dispatcher, especially what we call "direct task requests" which use the If a deployment chooses to only use direct task requests then it doesn't even need to launch the task dispatcher node. |
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Some API requests are handled directly by the fleet adapters and not by dispatcher, especially what we call "direct task requests" which use the
robot_task_request.jsonschema.If a deployment chooses to only use direct task requests then it doesn't even need to launch the task dispatcher node.