Posted by @kiwikev23:
I have a question about the rmf_task repository and its integration with ROS2, I was unable to find out the connection between all the program files (Task.cpp, Request.cpp, etc.) in the rmf_task repository and the rmf_ros2 repository. Can someone explain the relationship between these directories or direct me to the directory where I can see the integration between these repositories.
Posted by @Yadunund:
Firstly, it might help to take a look at this documentation, which explains how a task is constructed and submitted.
Essentially the category
and description
fields in the task_request.json will need to be populated based on schemas defined in rmf_fleet_adapter. The separation is so that users are not tied down to anything fleet adapter / execution specific when reusing the schemas in rmf_api_msgs
.
And within the implementation of the fleet adpater, we have mappings to convert these task_request.json
messages into rmf_task::Request
objects. See entry point
Hope that clarifies!