Add approach_speed field to Location message

[luca-della-vedova]

New feature implementation

Implemented feature

This PR allows simulated robots to respect speed limits. Speed limits for lanes are kept track of by upstream nodes (i.e. fleet adapters / managers) and published in the robot_path_requests message through a new field approach_speed. For each location approach_speed denotes the speed limit of the lane leading to it.

[codecov]

Codecov Report

Merging #28 (b50f983) into main (71e039d) will not change coverage.
The diff coverage is n/a.

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  Coverage   0.00%   0.00%           
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  Files       1098    1098           
  Lines      66768   66836   +68     
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- Misses     66768   66836   +68     

Flag	Coverage Δ
tests	0.00% <ø> (ø)

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Impacted Files	Coverage Δ
...sidl_generator_py/rmf_fleet_msgs/msg/_location_s.c	0.00% <0.00%> (ø)
..._c/rmf_fleet_msgs/msg/detail/location__functions.c	0.00% <0.00%> (ø)
...cpp/rmf_fleet_msgs/msg/detail/location__struct.hpp	0.00% <0.00%> (ø)
...fleet_msgs/msg/detail/location__type_support_c.cpp	0.00% <0.00%> (ø)
...rmf_fleet_msgs/msg/detail/location__type_support.c	0.00% <0.00%> (ø)
...f_fleet_msgs/msg/detail/location__type_support.cpp	0.00% <0.00%> (ø)
...msg/detail/dds_fastrtps/location__type_support.cpp	0.00% <0.00%> (ø)

[aaronchongth]

On second thought, after seeing how it's used in open-rmf/rmf_ros2#132, would it be better to emulate an optional field with

bool obey_approach_speed_limit = false
float32 approach_speed_limit

This will prevent any ambiguity, floating point errors, and also allow us to check for errors easier down the line. Let me know what you think.

[luca-della-vedova]

On second thought, after seeing how it's used in open-rmf/rmf_ros2#132, would it be better to emulate an optional field with

bool obey_approach_speed_limit = false
float32 approach_speed_limit

This will prevent any ambiguity, floating point errors, and also allow us to check for errors easier down the line. Let me know what you think.

Done 6d805f3
It seems booleans are initialized to false by default but I added it for extra clarity. Updated the matching PR in rmf_simulation to account for the change as well, didn't do the rmf_ros2 since it seems we might drop it and just have the new feature in the new fleet adapter

[aaronchongth]

This looks great! LGTM

[aaronchongth]

Thanks for the quick fix.