Posted by @dieformebaby:
Hi, so I have been working on the fleet adapter and trying to set up a way to pause a robot during a moving or cleaning task. Is there a proper or already documented way to do so?
Using https://osrf.github.io/ros2multirobotbook/task_new.html#task-management-control as a guide, I created a pause_task.py and resume_task.py scripts that publish ApiRequest messages to a custom topic.
And in RobotCommandHandle I added a listener to the custom topic to handle requests to pause or resume during a task.
Is this the recommended way to do this? Thank you!
Edited by @dieformebaby at 2022-11-04T10:21:16Z