Fleets without lift watchdog integration (#116)

Open-RMF Open-RMF General
1

Posted by @txlei:

Like to clarify in a scenario where a fleet adapter does not create a client to the rmf_fleet_msgs::srv::LiftClearance service, the lift will not wait for any DECISION_CLEAR or DECISION_CROWDED response when a LiftRequests is sent from the particular the fleet adapter. Is this understanding correct?

The fleet adapter would be deployed in an RMF instance with a running experimental_lift_watchdog node, alongside another fleet adapter where integration to the lift watchdog is enabled.

related PR Adding an experimental feature for confirming lift clearance before entering by mxgrey · Pull Request #295 · osrf/rmf_core · GitHub

Chosen answer

Answer chosen by @txlei at 2021-11-22T04:05:59Z.
Answered by @mxgrey:

Right, if the fleet adapter isn’t configured to create the LiftClearance client, then there’s no way for it to receive a DECISION_CLEAR or DECISION_CROWDED response from any LiftClearance service, so it will just go ahead and enter the lift without checking whether it’s clear.

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Posted by @mxgrey:

Right, if the fleet adapter isn’t configured to create the LiftClearance client, then there’s no way for it to receive a DECISION_CLEAR or DECISION_CROWDED response from any LiftClearance service, so it will just go ahead and enter the lift without checking whether it’s clear.

This is the chosen answer.