Support Flexible Task Definitions

[Yadunund]

DRAFT

Support the flexible task definition framework as discussed here #107 and introduced here open-rmf/rmf_task#39.

Checklist before merging: #153

Features introduced (TODO):

• Schemas:
• Websocket client for task/robot states and logs
• ...

[codecov]

Codecov Report

Merging #168 (de6f6c2) into main (3e52711) will decrease coverage by 0.94%.
The diff coverage is n/a.

❗ Current head de6f6c2 differs from pull request most recent head f4f90c3. Consider uploading reports for the commit f4f90c3 to get more accurate results

@@            Coverage Diff             @@
##             main     #168      +/-   ##
==========================================
- Coverage   20.46%   19.52%   -0.95%     
==========================================
  Files         398      852     +454     
  Lines       33882    78232   +44350     
  Branches    16040    37936   +21896     
==========================================
+ Hits         6933    15272    +8339     
- Misses      19419    46360   +26941     
- Partials     7530    16600    +9070     

Flag	Coverage Δ
tests	19.52% <ø> (-0.95%)	⬇️

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Impacted Files	Coverage Δ
...adapter/include/rmf_fleet_adapter/agv/Waypoint.hpp
...4.1.0/Rx/v2/src/rxcpp/schedulers/rx-sameworker.hpp
...ffic_ros2/src/rmf_traffic_ros2/schedule/Writer.cpp
...2/test/mock_schedule_nodes/missing_participant.cpp
...dapter/src/read_only_blockade/FleetAdapterNode.hpp
.../rmf_traffic_ros2/test/unit/test_convert_Graph.cpp
...os2/rmf_fleet_adapter/src/lift_supervisor/Node.cpp
...ffic_ros2/test/mock_schedule_nodes/wrong_query.cpp
...ter/src/rmf_fleet_adapter/agv/EasyTrafficLight.cpp
...2/rmf_fleet_adapter/rmf_rxcpp/examples/TestMap.hpp
... and 1240 more

[mxgrey]

There are some very niche CI test issues that will need some follow-up attention, but overall this is looking good enough to ship.