Python support

[fmrico]

Hi,

This PR adds Python support for creating missions and manage the fleet

[Copilot]

Pull request overview

Adds ROS 2 Python (ament_python) support by introducing a new Python “mission manager” package that mirrors the existing C++ APIs (FleetSession/RobotHandle/SimpleController) and a Python-based example deployment/mission script that reuses the existing scenario assets.

Changes:

• Introduces easyfleet_mission_manager_py, a Python implementation of capability discovery, action-client orchestration, robot handles, and RViz status markers.
• Adds a pytest-based test suite (including a fake nav capability process) plus ament linters for the new Python package(s).
• Adds easyfleet_easynav_collaboration_simple_api_deployment_py, a Python mission-controller mirror deployment with a YAML launch file and a scripted mission.

Reviewed changes

Copilot reviewed 37 out of 42 changed files in this pull request and generated 4 comments.

Show a summary per file

File	Description
easyfleet_mission_manager_py/test/test_xmllint.py	Adds ament xmllint test for the Python package.
easyfleet_mission_manager_py/test/test_throttle.py	Unit tests for the new Throttle helper.
easyfleet_mission_manager_py/test/test_pep257.py	Adds ament pep257 linter test.
easyfleet_mission_manager_py/test/test_nav_fake_capability.py	Provides a minimal fake navigation action server for integration tests.
easyfleet_mission_manager_py/test/test_fleet_session_shutdown.py	Tests FleetSession shutdown behavior with rclpy context invalidation.
easyfleet_mission_manager_py/test/test_fleet_session_robot_handle.py	End-to-end integration tests for FleetSession/RobotHandle/SimpleController.
easyfleet_mission_manager_py/test/test_flake8.py	Adds ament flake8 linter test.
easyfleet_mission_manager_py/test/test_copyright.py	Adds ament copyright linter test.
easyfleet_mission_manager_py/test/test_capability_state.py	Unit tests for CapabilityState string conversion.
easyfleet_mission_manager_py/test/test_capability_discovery.py	Integration tests for capability discovery over ROS topics.
easyfleet_mission_manager_py/test/init.py	Marks test directory as a package for relative imports.
easyfleet_mission_manager_py/setup.py	Declares the new Python package for installation.
easyfleet_mission_manager_py/setup.cfg	Configures script install locations for ament_python.
easyfleet_mission_manager_py/resource/easyfleet_mission_manager_py	Registers the package resource for the ament index.
easyfleet_mission_manager_py/package.xml	Declares ROS/package dependencies and test dependencies.
easyfleet_mission_manager_py/easyfleet_mission_manager_py/throttle.py	Adds a thread-safe minimum-interval rate limiter.
easyfleet_mission_manager_py/easyfleet_mission_manager_py/status_markers.py	Publishes RViz status markers for robot mission status.
easyfleet_mission_manager_py/easyfleet_mission_manager_py/simple_controller.py	Adds a minimal controller wrapper around FleetSession.
easyfleet_mission_manager_py/easyfleet_mission_manager_py/robot_handle.py	Implements RobotHandle for running/stopping capabilities and tracking state.
easyfleet_mission_manager_py/easyfleet_mission_manager_py/output.py	Adds serialized printing for multi-threaded output.
easyfleet_mission_manager_py/easyfleet_mission_manager_py/mission_helpers.py	Adds common goal builders, feedback printers, and helper utilities.
easyfleet_mission_manager_py/easyfleet_mission_manager_py/fleet_session.py	Implements FleetSession with background executor spinning and heartbeat handling.
easyfleet_mission_manager_py/easyfleet_mission_manager_py/detail/running_capability.py	Tracks per-capability in-flight goals and timeouts, maps outcomes to states.
easyfleet_mission_manager_py/easyfleet_mission_manager_py/detail/init.py	Initializes the internal detail package.
easyfleet_mission_manager_py/easyfleet_mission_manager_py/capability_state.py	Defines CapabilityState enum and string conversion helper.
easyfleet_mission_manager_py/easyfleet_mission_manager_py/capability_info.py	Defines CapabilityInfo and pretty-printers for discovery output.
easyfleet_mission_manager_py/easyfleet_mission_manager_py/capability_discovery.py	Implements discovery of capabilities via /capabilities and /capabilities_status.
easyfleet_mission_manager_py/easyfleet_mission_manager_py/capability_client.py	Implements an ActionClient wrapper with outcome normalization and cancel handling.
easyfleet_mission_manager_py/easyfleet_mission_manager_py/ansi.py	Provides ANSI formatting constants for terminal output.
easyfleet_mission_manager_py/easyfleet_mission_manager_py/init.py	Exposes the public Python API surface for the new package.
easyfleet_example_deployments/easyfleet_easynav_collaboration_simple_api_deployment_py/test/test_xmllint.py	Adds ament xmllint test for the example Python deployment package.
easyfleet_example_deployments/easyfleet_easynav_collaboration_simple_api_deployment_py/test/test_pep257.py	Adds ament pep257 linter test for the deployment package.
easyfleet_example_deployments/easyfleet_easynav_collaboration_simple_api_deployment_py/test/test_flake8.py	Adds ament flake8 linter test for the deployment package.
easyfleet_example_deployments/easyfleet_easynav_collaboration_simple_api_deployment_py/test/test_copyright.py	Adds ament copyright test for the deployment package.
easyfleet_example_deployments/easyfleet_easynav_collaboration_simple_api_deployment_py/test/init.py	Marks deployment tests as a package.
easyfleet_example_deployments/easyfleet_easynav_collaboration_simple_api_deployment_py/setup.py	Declares the deployment Python package and console entry point.
easyfleet_example_deployments/easyfleet_easynav_collaboration_simple_api_deployment_py/setup.cfg	Configures script install locations for ament_python.
easyfleet_example_deployments/easyfleet_easynav_collaboration_simple_api_deployment_py/resource/easyfleet_easynav_collaboration_simple_api_deployment_py	Registers the deployment package resource for the ament index.
easyfleet_example_deployments/easyfleet_easynav_collaboration_simple_api_deployment_py/package.xml	Declares ROS/package dependencies for the deployment and its tests.
easyfleet_example_deployments/easyfleet_easynav_collaboration_simple_api_deployment_py/launch/easynav_collaboration_launch.yaml	Launches the scenario but swaps in the Python mission controller node.
easyfleet_example_deployments/easyfleet_easynav_collaboration_simple_api_deployment_py/easyfleet_easynav_collaboration_simple_api_deployment_py/mission.py	Implements the Python mission choreography against the new API.
easyfleet_example_deployments/easyfleet_easynav_collaboration_simple_api_deployment_py/easyfleet_easynav_collaboration_simple_api_deployment_py/init.py	Initializes the deployment Python package.

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