Fleet task request

[cwrx777]

In the demo, there is only robot_task_request and dispatch_task_request. robot_task_request is for task assignment directly to a robot and dispatch_task_request is for the entire robots across the available fleets.

Does the task dispatcher support tasks that are to be dispatched to a specific fleet? e.g. fleet_task_request?
By default, all fleets support built-in categories such as patrol, go_to_place. Quite often, we need to use those built-in task categories for a particular fleet, but we would want RMF to choose the best robot in the fleet to do the task.

[Yadunund]

I would say this is a reasonable feature request and should be fairly easy to implement:

1. Add an optional fleet_name field to task_request.json
2. Update bid_notice_cb to ignore incoming requests where a fleet_name field is present in the bid_notice msg and the value does not match the fleet's name.

Are you willing to contribute this feature? I can help with reviews.

[cwrx777]

Hi @Yadunund ,
please review the following PRs:

• fleet_name in task_request rmf_api_msgs#47
• Add support of fleet-level task rmf_ros2#317
• Support fleet-level task rmf_demos#201

[mdfesto]

Thanks @cwrx777 for contributing!! 🥇