Support Flexible Task Definitions

.github/workflows/asan.yaml

@@ -14,7 +14,7 @@ jobs:
         env:
           CC: gcc -g
           CXX: g++ -g
-          ASAN_OPTIONS: detect_leaks=0 
+          ASAN_OPTIONS: detect_leaks=0
         with:
           target-ros2-distro: galactic
           # build all packages listed in the meta package
@@ -23,7 +23,7 @@ jobs:
             rmf_task_ros2
             rmf_fleet_adapter
           vcs-repo-file-url: |
-            https://raw.githubusercontent.com/open-rmf/rmf/main/rmf.repos
+            https://raw.githubusercontent.com/open-rmf/rmf/redesign_v2/rmf.repos
           colcon-defaults: |
             {
               "build": {

.github/workflows/build.yaml

@@ -25,7 +25,7 @@ jobs:
             rmf_fleet_adapter
           #  rmf_fleet_adapter_python # TODO(MXG): These tests are failing in the CI, and it seems to be related to https://github.com/ros2/launch/pull/592. Figure out how to fix this.
           vcs-repo-file-url: |
-            https://raw.githubusercontent.com/open-rmf/rmf/main/rmf.repos
+            https://raw.githubusercontent.com/open-rmf/rmf/redesign_v2/rmf.repos
           colcon-defaults: |
             {
               "build": {

rmf_fleet_adapter/CMakeLists.txt

@@ -33,9 +33,15 @@ set(dep_pkgs
   rmf_task_msgs
   rmf_traffic
   rmf_traffic_ros2
+  rmf_task_ros2
   rmf_battery
   rmf_task
+  rmf_task_sequence
   std_msgs
+  rmf_api_msgs
+  websocketpp
+  nlohmann_json
+  nlohmann_json_schema_validator_vendor
 )
 foreach(pkg ${dep_pkgs})
   find_package(${pkg} REQUIRED)
@@ -70,21 +76,28 @@ target_link_libraries(rmf_fleet_adapter
     rmf_traffic_ros2::rmf_traffic_ros2
     rmf_battery::rmf_battery
     rmf_task::rmf_task
+    rmf_task_sequence::rmf_task_sequence
+    rmf_task_ros2::rmf_task_ros2
     yaml-cpp
     ${rmf_fleet_msgs_LIBRARIES}
     ${rclcpp_LIBRARIES}
     ${rmf_task_msgs_LIBRARIES}
   PRIVATE
     rmf_rxcpp
+    nlohmann_json::nlohmann_json
+    rmf_api_msgs::rmf_api_msgs
     ${rmf_door_msgs_LIBRARIES}
     ${rmf_lift_msgs_LIBRARIES}
     ${rmf_dispenser_msgs_LIBRARIES}
     ${rmf_ingestor_msgs_LIBRARIES}
+    ${websocketpp_LIBRARIES}
+    nlohmann_json_schema_validator
 )
 
 target_include_directories(rmf_fleet_adapter
   PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<BUILD_INTERFACE:${CMAKE_BINARY_DIR}/rmf_api_generate_schema_headers/include> # for auto-generated schema headers
     $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
     ${rmf_traffic_ros2_INCLUDE_DIRS}
     ${rmf_fleet_msgs_INCLUDE_DIRS}
@@ -96,6 +109,9 @@ target_include_directories(rmf_fleet_adapter
     ${rmf_lift_msgs_INCLUDE_DIRS}
     ${rmf_dispenser_msgs_INCLUDE_DIRS}
     ${rmf_ingestor_msgs_INCLUDE_DIRS}
+    ${rmf_api_msgs_INCLUDE_DIRS}
+    ${WEBSOCKETPP_INCLUDE_DIR}
+    ${nlohmann_json_schema_validator_INCLUDE_DIRS}
 )
 
 if (BUILD_TESTING)
@@ -130,7 +146,10 @@ if (BUILD_TESTING)
       ${rmf_lift_msgs_INCLUDE_DIRS}
       ${rmf_dispenser_msgs_INCLUDE_DIRS}
       ${rmf_ingestor_msgs_INCLUDE_DIRS}
+      ${rmf_api_msgs_INCLUDE_DIRS}
       ${std_msgs_INCLUDE_DIRS}
+      ${WEBSOCKETPP_INCLUDE_DIR}
+      ${nlohmann_json_schema_validator_INCLUDE_DIRS}
   )
   target_link_libraries(test_rmf_fleet_adapter
     PRIVATE
@@ -143,7 +162,10 @@ if (BUILD_TESTING)
       ${rmf_ingestor_msgs_LIBRARIES}
       rmf_fleet_adapter
       rmf_utils::rmf_utils
+      rmf_api_msgs::rmf_api_msgs
       ${std_msgs_LIBRARIES}
+      ${websocketpp_LIBRARIES}
+      nlohmann_json_schema_validator
   )
 
   target_compile_definitions(test_rmf_fleet_adapter
@@ -453,17 +475,16 @@ target_include_directories(close_lanes
 
 # -----------------------------------------------------------------------------
 
-ament_export_targets(rmf_fleet_adapter HAS_LIBRARY_TARGET)
-ament_export_dependencies(
-  rmf_task
-  rmf_traffic_ros2
-  rmf_fleet_msgs
-  rmf_door_msgs
-  rmf_lift_msgs
-  rmf_ingestor_msgs
-  rmf_dispenser_msgs
+rmf_api_generate_schema_headers(
+  PACKAGE rmf_fleet_adapter
+  SCHEMAS_DIR ${CMAKE_CURRENT_LIST_DIR}/schemas
 )
 
+# -----------------------------------------------------------------------------
+
+ament_export_targets(rmf_fleet_adapter HAS_LIBRARY_TARGET)
+ament_export_dependencies(${dep_pkgs})
+
 install(
   TARGETS
     rmf_fleet_adapter
@@ -499,4 +520,3 @@ install(
 )
 
 ament_package()
-

rmf_fleet_adapter/include/rmf_fleet_adapter/StandardNames.hpp

@@ -60,6 +60,9 @@ const std::string DockSummaryTopicName = "dock_summary";
 const std::string LaneClosureRequestTopicName = "lane_closure_requests";
 const std::string ClosedLaneTopicName = "closed_lanes";
 
+const std::string TaskApiRequests = "task_api_requests";
+const std::string TaskApiResponses = "task_api_responses";
+
 } // namespace rmf_fleet_adapter
 
 #endif // RMF_FLEET_ADAPTER__STANDARDNAMES_HPP

rmf_fleet_adapter/include/rmf_fleet_adapter/agv/Adapter.hpp

@@ -93,10 +93,15 @@ class Adapter : public std::enable_shared_from_this<Adapter>
   ///
   /// \param[in] navigation_graph
   ///   Specify the navigation graph used by the vehicles in this fleet.
+  ///
+  /// \param[in] server_uri
+  ///   Specify the URI for the websocket server that receives updates on tasks
+  ///   and states. If nullopt, data will not be published.
   std::shared_ptr<FleetUpdateHandle> add_fleet(
     const std::string& fleet_name,
     rmf_traffic::agv::VehicleTraits traits,
-    rmf_traffic::agv::Graph navigation_graph);
+    rmf_traffic::agv::Graph navigation_graph,
+    std::optional<std::string> server_uri = std::nullopt);
 
   /// Create a traffic light to help manage robots that can only support pause
   /// and resume commands.