Mutex groups, dynamic charging, delivery alerts, and beacons (#60)

Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai> Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> Signed-off-by: Xiyu Oh <xiyu@openrobotics.org> Co-authored-by: Luca Della Vedova <lucadv@intrinsic.ai> Co-authored-by: Xiyu Oh <xiyu@openrobotics.org>
open-rmf · Dec 12, 2023 · 5cf60be · 5cf60be
1 parent 25ab6cc
commit 5cf60be
Show file tree

Hide file tree

Showing 6 changed files with 31 additions and 0 deletions.
diff --git a/rmf_fleet_msgs/CMakeLists.txt b/rmf_fleet_msgs/CMakeLists.txt
@@ -40,6 +40,11 @@ set(msg_files
   "msg/MutexGroupAssignment.msg"
   "msg/MutexGroupRequest.msg"
   "msg/MutexGroupStates.msg"
+  "msg/BeaconState.msg"
+  "msg/DeliveryAlert.msg"
+  "msg/DeliveryAlertAction.msg"
+  "msg/DeliveryAlertCategory.msg"
+  "msg/DeliveryAlertTier.msg"
 )
 
 set(srv_files

diff --git a/rmf_fleet_msgs/msg/BeaconState.msg b/rmf_fleet_msgs/msg/BeaconState.msg
@@ -0,0 +1,7 @@
+# This message defines data from a robot beacon
+
+string id 
+bool online
+string category
+bool activated
+string level
diff --git a/rmf_fleet_msgs/msg/DeliveryAlert.msg b/rmf_fleet_msgs/msg/DeliveryAlert.msg
@@ -0,0 +1,6 @@
+string id
+DeliveryAlertCategory category
+DeliveryAlertTier tier
+string task_id
+DeliveryAlertAction action
+string message
diff --git a/rmf_fleet_msgs/msg/DeliveryAlertAction.msg b/rmf_fleet_msgs/msg/DeliveryAlertAction.msg
@@ -0,0 +1,5 @@
+uint32 value
+uint32 WAITING=0
+uint32 CANCEL=1
+uint32 OVERRIDE=2
+uint32 RESUME=3
diff --git a/rmf_fleet_msgs/msg/DeliveryAlertCategory.msg b/rmf_fleet_msgs/msg/DeliveryAlertCategory.msg
@@ -0,0 +1,5 @@
+uint32 value
+uint32 MISSING=0
+uint32 WRONG=1
+uint32 OBSTRUCTED=2
+uint32 CANCELLED=3
diff --git a/rmf_fleet_msgs/msg/DeliveryAlertTier.msg b/rmf_fleet_msgs/msg/DeliveryAlertTier.msg
@@ -0,0 +1,3 @@
+uint32 value
+uint32 WARNING=0
+uint32 ERROR=1