Load the parking waypoint into RobotContext; access it in adapter and FleetUpdateHandle #350
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…hods to use dedicated parking waypoint in RobotUpdateHandle and FleetUpdatehandle and fleet adapter.
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Bug fix
Fixed bug
Currently if we set the parking waypoint of a robot to a waypoint that is not a charger, and configure the finishing request as "park", the robot will still go back to its charger, instead of its parking spot, after finishing a task. This bug is raised in issue open-rmf/rmf_demos#219 and open-rmf/rmf_task#115.
Fix applied
This issue happens because when we generate a parking request for the robot, we did not pass in a parking spot waypoint, and therefore the robot will head to its charger as default. My approach is the similar as suggested by Yadunund in open-rmf/rmf_task#115 (the only difference is because I am on the humble branch instead of the main branch).
Basically, the Fleet adapter will read the dedicated parking waypoint for each robot from the configuration file, pass that waypoint to RobotCommandHandle and RobotUpdateHandle so that this waypoint will be set as the dedicated parking waypoint for each robot. When sending requests to robots, fleet adapter needs to know each robot's State, which can be retrieved through RobotContext. The robots' current state with a dedicated parking waypoint will be sent back to the fleet adapter. When creating finishing request, if the finishing request is configured as "park", fleet adapter will call the ParkRobotFactory class to use that parking waypoint as a finishing waypoint.
To implement the fix, I need to make changes to three repos: rmf_demos, rmf_task, and rmf_ros2. And therefore I have three pull requests. Please review them together.