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Support Flexible Task Definitions#168

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mxgrey merged 102 commits intomainopen-rmf/rmf_ros2:mainfrom redesign_v2open-rmf/rmf_ros2:redesign_v2Copy head branch name to clipboardFeb 13, 2022

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Commits on Dec 6, 2021

• Added skeleton for broadcast client

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• wip

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Commits on Dec 7, 2021

• Implemented make

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• Initialize broadcast client

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• Debugging

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Commits on Dec 8, 2021

• Cleanup

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• Publish fleet_state message

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• Store broadcast_client within TaskManager

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• Changes to support rmf_task/redesign_v2

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Commits on Dec 9, 2021

• Schema validator loader uses internal dictionary

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• Fixed fleet_state message

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• Merge branch 'main' into feature/websocket_client

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• Update python binding

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• Publish _update jsons

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• Add helper functions to validate and publish task updates

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• Uncrustify

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Commits on Dec 10, 2021

• Creating a shim to migrate the legacy task phases to the new system

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Commits on Dec 14, 2021

• Implementing the GoToPlace event

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Commits on Dec 15, 2021

• Finish implementation of GoToPlace and EmergencyPullover

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Commits on Dec 16, 2021

• Implement delivery

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Commits on Dec 17, 2021

• Finished refactoring to new task system -- need to finish comms implementation

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Commits on Dec 20, 2021

• Publish task states

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Commits on Dec 21, 2021

• Continue implementing json updates, fix a subtle bug

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Commits on Dec 22, 2021

• Support battery charging tasks

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• Fix battery charging and deliveries

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• Use Placeholder event instead of WaitFor event

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Commits on Dec 24, 2021

• Implemented json message handling -- need to finish task change implementation

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• Implemented interrupt and resume -- just a few more commands missing

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• Finished implementation of all task manipulation requests -- needs testing

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Commits on Dec 29, 2021

• Beginning API for json deserialization

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• Remove redundant comparison function

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• Merged in the latest changes

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• Merge branch 'json_deserialize' into redesign_v2

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Commits on Dec 30, 2021

• Adding the ability to deserialize json task requests

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Commits on Dec 31, 2021

• Implement deserialization of JSON for task descriptions

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• Finish implementations for delivery and loop

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• Fix validator instantiation

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• Merge branch 'redesign_v2' into json_deserialization

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Commits on Jan 3, 2022

• Finish implementation of task description deserialization

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• Add a task description schema for Clean

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• Remember to publish task log updates

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• Fix websocket fleet state updates

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• Merge branch 'redesign_v2' into json_deserialization

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Commits on Jan 4, 2022

• Reworking the dispatcher to reduce responsibilities and eliminate cruft

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• Remember to put task_id into task log update

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Commits on Jan 5, 2022

• Merge branch 'redesign_v2' into json_deserialization

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Commits on Jan 6, 2022

• Refactoring dispatch node -- finished Dispatcher class

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Commits on Jan 7, 2022

• Finished migrating the dispatch system -- needs testing

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Commits on Jan 8, 2022

• Creating new API for letting users accept tasks

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Commits on Jan 9, 2022

• Migrating to new bid notice system

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• Finished critical parts of migration -- needs testing

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• Fixing subtle bugs

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Commits on Jan 10, 2022

• Implement support for composed tasks

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• Removing support for adding custom tasks -- wait until we can work more on refining the API

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• Fix stray comma

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Commits on Jan 11, 2022

• fix breaking add_fleet() py api change

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Commits on Jan 12, 2022

• Remove url reserved characters from task_id fields

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• Change the task_id format to something a bit nicer

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• Remember to fill in event states

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Commits on Jan 13, 2022

• Fix the usage of nlohmann::json

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• fix json key check error

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• Fix the use of nlohmann::json

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• Merge branch 'redesign_v2' of ssh://github.com/open-rmf/rmf_ros2 into redesign_v2

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• Adding debug printouts to dispatcher

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• Desperate debug

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• Fix usage of json

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• Fix category for legacy clean

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• Wrap json parse in try-catch blocks

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Commits on Jan 14, 2022

• Remove debugging cruft

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• Fix merge

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Commits on Jan 20, 2022

• fix empty itinerary gotoplace error

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Commits on Jan 21, 2022

• fix compilation on foxy

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Commits on Jan 24, 2022

• Support PerformAction event in composed tasks (#155)

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Commits on Jan 27, 2022

• Fix Compose Tasks (#159)

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Commits on Jan 28, 2022

• Fix dispatch response

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• check priority json keys

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• Merge branch 'redesign_v2' of https://github.com/open-rmf/rmf_ros2 into redesign_v2

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• Update json dependency (#160)

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Commits on Jan 31, 2022

• Feature: Direct Task Assignment (#158)

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Commits on Feb 3, 2022

• Fix permanent freeze of new task requests

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• Including task timing information in the task state

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Commits on Feb 4, 2022

• Fix access of dictionary elements that might be missing

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Commits on Feb 7, 2022

• Update schema file names

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Commits on Feb 9, 2022

• populate task state timing info for queue task

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Commits on Feb 10, 2022

• Give nicer event description and log updates for MoveRobot

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• Fix time representations

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Commits on Feb 11, 2022

• Task redesign v2 pybind apis and fix task testcases (#154)

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• More consistent formatting

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• Get tests passing again

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Commits on Feb 12, 2022

• Use the redesign_v2 repos file

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• Revert test_Loop back to flaky

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• Skip Python tests on CI until the configuration can be fixed

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• Update repos for asan and tsan tests as well

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• Loosen thresholds

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• Fix merge

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Commits on Feb 13, 2022

• Fix error from merge

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• Merge latest

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• Fix lifecycle management for mock server

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• Fix a few thread race vulnerabilities

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• Temporarily disable tsan for the CI

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• Fix uncrustify

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• Fix potential use-after-free vulnerability

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