Adds support for forwarding nav graph nodes - #49
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This PR adds support for forwarding navgraph nodes in a destination request. The main use case for this is to support actions such as docking. In our next generation prototype, we plan on having floating "graphs". These graphs will enable us to encode actions and be authored using the site editor. The basic idea is say you want to dock with something and trigger a workflow, you would reserve a region using the reservation system, along with a very specific graph node. When you arrive at this destination, the region is reserved allowing you to perform whatever local activiy you may want your AMR to do. This could be something as simple as offloading an item of a conveyor on to the AMR. The idea is that the region would remain reserved while you perform your task at that specific graph node. In order to distinguish that you want such a task performed we use annotated lanes. The fact that one is going through specific lanes on the graph would then be forwarded to individual robots so robots can use their local execution engines to perform these customized actions. This PR makes sure that (1) the graph nodes are forwarded by the reservation system and (2) the path server populates the relevant fields to ensure that the "fleet adapter" is aware of what action should be performed. Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
The nav2 library used traditional nav2 APIs to direct robots. However it would only allow nav2 robots to move if such a request existed. This PR relaxes that requirement and lets robots move directly via destination requests which could potentially come in from other sources.
…vent dropping goals on replan cancellation
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New feature implementation
Implemented feature
This PR adds support for forwarding navgraph nodes in a destination request. The main use case for this is to support actions such as docking. In our next generation prototype, we plan on having floating "graphs". These graphs will enable us to encode actions and be authored using the site editor. The basic idea is say you want to dock with something and trigger a workflow, you would reserve a region using the reservation system, along with a very specific graph edge with the annotated action. When you arrive at this destination, the region is reserved allowing you to perform whatever local activiy you may want your AMR to do. This could be something as simple as offloading an item of a conveyor on to the AMR. The idea is that the region would remain reserved while you perform your task at that specific graph node. In order to distinguish that you want such a task performed we use annotated lanes. The fact that one is going through specific lanes on the graph would then be forwarded to individual robots so robots can use their local execution engines to perform these customized actions. This PR makes sure that:
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