Repubishing task with the same task request id (#323)

Open-RMF Open-RMF General
1

Posted by @cwrx777:

Hi,

Reference: handle_api_request
I would like to check with you on RMF behavior on task API requests handling behavior.

  1. if the task is a direct task request and the robot is already executing a task (task_id = task_1), if there is another task request with task_id task_1. does RMF see this as a different task and queue the task for this robot and publish a response? or RMF still responds but there the task is not queued since there is already a task with the same task_id.
  2. For task cancellation, kill, interrupt, etc, if the task does not exist in RMF, does RMF respond?
  3. When the task is already completed,killed, cancelled, and if RMF receives another task request with the same task_id, does RMF see this as another task and provide API response as queued?
  4. How often does the dispatcher provide task_state_update via the websocket, including for completed task?
  5. is there any API to check the status of a task?