Me and my team are happy to announce that we at Karelics have open sourced our ROS 2 Task Manager package. This solution allows you to convert your existing ROS actions and services into tasks, offering useful features such as automatic task conflict resolution, the ability to aggregate multiple tasks into larger Missions, and straightforward tracking for active tasks and their results.
Check out the package and examples of its usage with the Nav2 package:
https://github.com/Karelics/task_manager
For an introduction and deeper insights into our design decisions, see our blog post available at: https://karelics.fi/task-manager-ros-2-package/
We firmly believe that this package will prove valuable to the ROS community and accelerate the development of the robot systems. We are excited to hear your thoughts and feedback on it!