Support multiple destinations with actions in nexus_transporter #69
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Signed-off-by: Yadunund <yadunund@gmail.com>
Signed-off-by: Yadunund <yadunund@gmail.com>
Signed-off-by: Yadunund <yadunund@gmail.com>
Signed-off-by: Yadunund <yadunund@gmail.com>
Signed-off-by: Yadunund <yadunund@gmail.com>
aaronchongth
requested changes
Feb 4, 2025
| @@ -17,16 +17,16 @@ | |||
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| #include <nexus_transporter/Itinerary.hpp> | |||
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| //============================================================================== | |||
| namespace nexus_transporter { | |||
| #include <stdexcept> | |||
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Looks like this might be left in accidentally
| int32 action | ||
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| # Additional parameters. | ||
| string params |
| int32 ACTION_DROPOFF=3 | ||
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| # The type of action to perform at the destination. | ||
| int32 action |
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we probably won't need so many action types in the future, we can use an uint8 for this field
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| rclcpp::TimerBase::SharedPtr register_timer; | ||
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| RCLCPP_INFO(node->get_logger(), "Registering with system orchestrator..."); | ||
| auto register_cb = | ||
| [this, node](rclcpp::Client<RegisterTransporter>::SharedFuture future) |
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we should capture w_node instead, and lock it inside register_cb since this is an async request and node is expected to be released as _register returns before we get a response
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This PR
nexus_transporter_msgsto include aDestinationmsg with fields to specify the type of action to perform at the destination.ItineraryandTransporterclasses to support multipleDestinations.SingleThreadedExecutor(default). This was previously set toMultiThreadedExecutorto deal with making a registration client request within a timer callback which leads to a deadlock. This is resolved in the same way the Workcell Orchestrator handles it, ie, relying on async client requests.mock_transporterplugin implementation fromnexus_integration_teststo `nexus_transporter.As a follow up, I will update rmf_request interfaces introduced in #42 with the Destination definition here and explore a native RMF plugin implementation.