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Adds a simple parking spot management system. #325

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Adds a simple parking spot management system. #325

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Commits on Jun 7, 2024

  1. Bump main to 2.3.2 (#299) 

    * Update CHANGELOGS

Signed-off-by: Yadunund <[email protected]>

* 2.3.2

Signed-off-by: Yadunund <[email protected]>

---------

Signed-off-by: Yadunund <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  2. Cancel automatic pending tasks that are removed during new assignments ( 

    #301)

* Cancel automatic pending tasks that are removed during new assignments

Signed-off-by: Aaron Chong <[email protected]>

* Lint

Signed-off-by: Aaron Chong <[email protected]>

* Use unordered_set

Signed-off-by: Aaron Chong <[email protected]>

---------

Signed-off-by: Aaron Chong <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  3. Add support for multiple destinations in GoToPlace 

    This commit adds support for selecting the nearest spot on the same
floor. This behaviour is convenient when looking at things from a cancellation perspective.

This commit depends on open-rmf/rmf_task#101

Signed-off-by: Arjo Chakravarty <[email protected]>
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  4. Missed the schema 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  5. Update schema to follow @mxgrey's specifications. 

    I have not implemented flexible constraints here. If we really need it
can do it in a follow up pr.

Signed-off-by: Arjo Chakravarty <[email protected]>
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  6. Tweaking implementation 

    Signed-off-by: Michael X. Grey <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  7. Mutex groups, dynamic charging, and more (#310) 

    Signed-off-by: Michael X. Grey <[email protected]>
Signed-off-by: Xiyu Oh <[email protected]>
Co-authored-by: Xiyu Oh <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  8. Update changelog and bump version (#311) 

    Signed-off-by: Michael X. Grey <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  9. Fix merge with main 

    Signed-off-by: Michael X. Grey <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  10. Fix same floor constraint parsing 

    Signed-off-by: Michael X. Grey <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  11. Fix a minor typo in fleet adapter error log 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  12. Add Reservation System node 

    This commit adds the rust reservation system node. It will require
the ros2_rust system to be set up.

Signed-off-by: Arjo Chakravarty <[email protected]>
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  13. Rework node for new flexible time API 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  14. Adding support for reservation system in classic RMF 

    Going to drop Rust dependency. Currently working mutex into GoToPlace.

Signed-off-by: Arjo Chakravarty <[email protected]>
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  15. Some things missing from previous push 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  16. Add support for releasing reservations 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  17. Added a simple C++ mutex based proto-reservation system 

    Removed all the rust code. This is a stop-gap measure for legacy RMF and
should prevent erroneous occupation of parking spots.

Signed-off-by: Arjo Chakravarty <[email protected]>
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  18. Adds a simple parking spot management system. 

    This commit adds a stupidly simple parking spot system. It ensures the
next location a robot goes to is not occupied. It also publishes
currently free parking spots. When combined with #308 it allows a robot
to move to the nearest free spot instead of the nearest spot only.

note: This PR still needs more testing

Depends on:
- open-rmf/rmf_internal_msgs#63

Known issues:
- When the robots start in simulation not all robots seem to be running
  the idle task, hence some robot dont end up claiming parking spots.

Signed-off-by: Arjo Chakravarty <[email protected]>
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  19. Fix edge case when starting on a lane (#312) 

    Signed-off-by: Michael X. Grey <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  20. Update changelogs and 2.5.0 (#313) 

    Signed-off-by: Yadunund <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  21. Adds an option to generate unique hex strings for new task ids, fix t… 

    …ime stamp logic (#319)

Signed-off-by: Aaron Chong <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  22. Add support of fleet-level task (#317) 

    * check if task request has fleet_name and reject if it does not match fleet adapter's name.

Signed-off-by: Charly Wu <[email protected]>

* update logging.

Signed-off-by: Charly Wu <[email protected]>

* added DCO commit

Signed-off-by: Charly Wu <[email protected]>

* delete unnecessary new lines.

Signed-off-by: Charly Wu <[email protected]>

* remove extra space.

Signed-off-by: Charly Wu <[email protected]>

* uncrustified.

Signed-off-by: Charly Wu <[email protected]>

---------

Signed-off-by: Charly Wu <[email protected]>
Co-authored-by: Yadu <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  23. use keep_last(10) for all instances without a depth already set 

    Signed-off-by: Teo Koon Peng <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  24. style 

    Signed-off-by: Teo Koon Peng <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  25. catch multi line usages 

    Signed-off-by: Teo Koon Peng <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  26. catch some extra edge cases 

    Signed-off-by: Teo Koon Peng <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  27. fix false positive 

    Signed-off-by: Teo Koon Peng <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  28. Change emergency pullover behaviour. 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  29. Style 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  30. Remove holding time nonsense. 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  31. Don't wait for retry. immediately plan. 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  32. Cancel retry timer 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  33. Better logging. 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  34. merge 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  35. add in_lift readonly property in Graph::Waypoint binding. (#326) 

    Signed-off-by: Charly Wu <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  36. Add Backward-ROS for improved logging in event of segfaults (#327) 

    * Add Backward-ROS for improved logging in event of segfaults

`backward-ros` provides a clean way to catch unhandled exceptions and
segfaults and is able to print a stack trace when a program crashes.
This PR adds `backward-ros` to rmf ros2 nodes so that we can trace
causes for segfaults.

Note: This will only work for pure C++ nodes. If we want logging in
downstream fleetadapters they will have to handle that themselves either
using `backward-cpp` or `faulthandler` in python.

Signed-off-by: Arjo Chakravarty <[email protected]>

* Alphabetize deps

Signed-off-by: Arjo Chakravarty <[email protected]>

---------

Signed-off-by: Arjo Chakravarty <[email protected]>
Co-authored-by: Yadu <[email protected]>
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  37. include cstdint header (#331) 

    Signed-off-by: Yadunund <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  38. Removes a line of dead code (#322) 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  39. Bump main to 2.6.0 (#332) 

    * Update changelogs

Signed-off-by: Yadunund <[email protected]>

* 2.6.0

Signed-off-by: Yadunund <[email protected]>

---------

Signed-off-by: Yadunund <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  40. Add Speed Limit Requests (#222) (#335) 

    * add FleetUpdateHandle speed limit API to python bindings

* add continuous checker option for dynamic obstacles

* refactor Lane Close and Open msg building

* add speed limits

* Fix style

* Fix const correctness and do not pass unordered_map by ref to publisher

Signed-off-by: Pranay Shirodkar <[email protected]>
Signed-off-by: Yadunund <[email protected]>
Co-authored-by: Pranay Shirodkar <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
    @Yadunund @PranayShirodkar @arjo129
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  41. Fix interaction between emergency pullover and finishing task (#333) 

    Signed-off-by: Michael X. Grey <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
    @mxgrey @arjo129
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  42. Support labels in booking information (#328) 

    Signed-off-by: Aaron Chong <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  43. Release other mutexes if robot started charging (#334) 

    Signed-off-by: Xiyu Oh <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  44. Add all_known_lifts in Graph binding (#336) 

    Signed-off-by: Charly Wu <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  45. Stabilize commissioning feature (#338) 

    Signed-off-by: Michael X. Grey <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  46. Refactors the socket broadcast client (#329) 

    * Refactors the socket broadcast client

This commit refactors the socket broadcast client. It switches out
the underlying queue to a circular buffer, that way the memory pressure
of the broadcast client remains constant without needing to do work at
sporadic intervals. The new structure should hopefully also make it
easier for someon to reason about the websocket layer.

Signed-off-by: Arjo Chakravarty <[email protected]>

* ROS-ify logging.

Signed-off-by: Arjo Chakravarty <[email protected]>

* Remove unessecary dependency

Signed-off-by: Arjo Chakravarty <[email protected]>

* Add lock

Signed-off-by: Arjo Chakravarty <[email protected]>

* Header guard

Signed-off-by: Arjo Chakravarty <[email protected]>

* Use enum for status

Signed-off-by: Arjo Chakravarty <[email protected]>

* Const reference to prevent copy

Signed-off-by: Arjo Chakravarty <[email protected]>

* Remove redundant include

Signed-off-by: Arjo Chakravarty <[email protected]>

* Fix move

Signed-off-by: Arjo Chakravarty <[email protected]>

* Move everything to one thread.

Signed-off-by: Arjo Chakravarty <[email protected]>

* Fixed "deadlock"

Signed-off-by: Arjo Chakravarty <[email protected]>

* Clean up reconnection logic

Signed-off-by: Arjo Chakravarty <[email protected]>

* Delete move and copy constructors.

Signed-off-by: Arjo Chakravarty <[email protected]>

* Remove FastAPI file

Signed-off-by: Arjo Chakravarty <[email protected]>

* More cleanups

Signed-off-by: Arjo Chakravarty <[email protected]>

* Add unit tests and fix a bunch of corner cases.

Signed-off-by: Arjo Chakravarty <[email protected]>

* Style

Signed-off-by: Arjo Chakravarty <[email protected]>

* Address feedback

Signed-off-by: Arjo Chakravarty <[email protected]>

* Address feedback

Signed-off-by: Arjo Chakravarty <[email protected]>

* Address logging feedback

Signed-off-by: Arjo Chakravarty <[email protected]>

* Address feedback

Signed-off-by: Arjo Chakravarty <[email protected]>

* Style

Signed-off-by: Arjo Chakravarty <[email protected]>

* Horrible hack to make tests always pass.

Signed-off-by: Arjo Chakravarty <[email protected]>

* Address Feedback

Tests flaky even after improvements.

Signed-off-by: Arjo Chakravarty <[email protected]>

* Style

Signed-off-by: Arjo Chakravarty <[email protected]>

* Fix tests.

Thanks @koonpeng for spotting the timing issue. It seems you were right
about the server not being cleanly closed. This commit fixes that by
cleanly closing the server in the test.

Signed-off-by: Arjo Chakravarty <[email protected]>

* Address feedback about logging.

Signed-off-by: Arjo Chakravarty <[email protected]>

* Style

Signed-off-by: Arjo Chakravarty <[email protected]>

---------

Signed-off-by: Arjo Chakravarty <[email protected]>
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  47. Lower debug level of some messages in rmf_websocket (#340) 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  48. Manual release of mutex groups (#339) 

    Signed-off-by: Michael X. Grey <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  49. Disable automatic retreat (#330) 

    * Add retreat_to_charger param

Signed-off-by: Xiyu Oh <[email protected]>

* If idle task is charge, do not retreat to charger

Signed-off-by: Xiyu Oh <[email protected]>

* Use duration instead of boolean for retreat to charger

Signed-off-by: Xiyu Oh <[email protected]>

* Undo adding request type

Signed-off-by: Xiyu Oh <[email protected]>

* Change retreat to timer from bool to optional duration

Signed-off-by: Xiyu Oh <[email protected]>

* Store param in FleetUpdateHandle

Signed-off-by: Xiyu Oh <[email protected]>

* Uncrustify and remove request_type from ChargeBattery

Signed-off-by: Xiyu Oh <[email protected]>

* Tweak some details and remove API breakages

Signed-off-by: Michael X. Grey <[email protected]>

* Fix style

Signed-off-by: Michael X. Grey <[email protected]>

---------

Signed-off-by: Xiyu Oh <[email protected]>
Signed-off-by: Michael X. Grey <[email protected]>
Co-authored-by: Michael X. Grey <[email protected]>
Co-authored-by: Grey <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  50. Fix deadlock in websocket server (#342) 

    This is a rather dumb mistake. I think I left this in as a vestige of my
testing. However, the websocket client was refusing to reconnect thanks
to a deadlock caused by this variable.

Signed-off-by: Arjo Chakravarty <[email protected]>
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  51. Automatically begin or cancel idle behavior when commission changes (#… 

    …346)

Signed-off-by: Michael X. Grey <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  52. Add fleet-level reassign dispatched tasks API (#348) 

    Signed-off-by: Xiyu Oh <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  53. Fix schema dictionary used during robot status override (#349) 

    Signed-off-by: Michael X. Grey <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  54. Filter DoorOpen insertion by map name (#353) 

    Signed-off-by: Michael X. Grey <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  55. Event based lift / door logic (#320) 

    Signed-off-by: Luca Della Vedova <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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  56. Fix segfault 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  1. Merge remote-tracking branch 'origin/main' into arjo/feat/integrated_… 

    …ressys
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  2. Fix compile issues. 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  1. Merge branch 'main' into arjo/feat/integrated_ressys

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  1. Merge branch 'main' into arjo/feat/integrated_ressys

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  1. Merge branch 'main' into arjo/feat/integrated_ressys

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  1. Merge branch 'main' into arjo/feat/integrated_ressys

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  1. Get config from yaml to RobotContext 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  2. Restore old behaviour by default. 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  3. Only proceed if next spot is free. 

    Note: Things are still broken

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Commits on Jul 23, 2024

  1. Still broken: Fixing implementation of wait and spot and then go beha… 

    …viour

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Commits on Jul 24, 2024

  1. Fix compilation eror 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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Commits on Jul 29, 2024

  1. Giant refactor 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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Commits on Jul 31, 2024

  1. Merge remote-tracking branch 'origin/main' into arjo/feat/integrated_… 

    …ressys
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  2. Basic queueing is working 

    There is still a memory leak in here somewhere as I've managed to
introduce a circular reference to `GoToPlace` somehow. Also mid-route cancellation leads to
segfaults.

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  3. Looks like the segfault was thanks to some logging 

    It seems to be working now. Minus the memory leak. Will have to debug
that.

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Commits on Aug 1, 2024

  1. So... I know how to fix the leak but that version does not work 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  2. Fixed memory leak 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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Commits on Aug 2, 2024

  1. Finally works fully 

    Fixed an edge case where we ask the robot to go back to the same place
again.

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  2. Add docs 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  3. Whoops fix stray keystroke 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  4. Release in the correct place 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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Commits on Aug 5, 2024

  1. Merge remote-tracking branch 'origin/main' into arjo/feat/integrated_… 

    …ressys
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Commits on Aug 8, 2024

  1. Code clean ups 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  2. Fix typos 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  3. Switched to names to support multiple graphs 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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Commits on Aug 14, 2024

  1. Refactoring and Stylistic changes 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  2. Removing unused subscriber 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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Commits on Aug 16, 2024

  1. More refactoring 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  2. More style fixes 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  3. More style fixes 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  4. More style fixes 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  5. More style fixes 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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Commits on Aug 19, 2024

  1. More refactoring 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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Commits on Aug 20, 2024

  1. Was logging the wrong thing 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  1. Update Readme 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  2. Fix deadlock 

    We now traverse the wait-graph instead of just releasing the next
ticket. This should hopefully make things less buggy.

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  3. Style fixes 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  4. Merge remote-tracking branch 'origin/main' into arjo/feat/integrated_… 

    …ressys
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Commits on Aug 27, 2024

  1. Add support for getting lost 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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Commits on Aug 28, 2024

  1. Fix segfault 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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Commits on Sep 2, 2024

  1. Fixed patrol behaviour 

    So my previous hypothesis about patrols was rubbish. It turns out there
was an inconsitency within the chope node itself. The issue was that
there were duplicates being added to the queue. This means that the
chope node was deadlocking. I've addressed that with this fix.

Signed-off-by: Arjo Chakravarty <[email protected]>
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Commits on Sep 17, 2024

  1. Support cancellation 

    Also remove duplicated headers. Make chopenode depend on fleet adapter
for names of topics.

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  2. More Refactors 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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    arjo129 committed Sep 17, 2024
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  3. Address namespacing issue 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  4. Style 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  5. Style 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  6. Merge branch 'main' into arjo/feat/integrated_ressys

    @arjo129
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Commits on Sep 24, 2024

  1. Fix navigation parameters 

    Signed-off-by: Michael X. Grey <[email protected]>
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Commits on Sep 25, 2024

  1. Mega Re-name 

    As per a discussion with @mxgrey we are avoiding the use of the word
"chope".

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Commits on Sep 26, 2024

  1. Merge branch 'main' into arjo/feat/integrated_ressys

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  2. Mostly style fixes address shared pointer capture 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  3. Merge branch 'arjo/feat/integrated_ressys' of github.com:open-rmf/rmf… 

    …_ros2 into arjo/feat/integrated_ressys
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Commits on Sep 28, 2024

  1. More style fixes 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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Commits on Sep 30, 2024

  1. More style fixes 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  2. Rework how configurations are loaded so as not to break abi 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  3. More cleanups 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  4. More cleanups 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  5. Copyright headers 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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Commits on Oct 1, 2024

  1. Move make_request to worker thread lso make sure we only use the rese… 

    …rvation system if we need to move.

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  2. Style 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  3. Clean up readme 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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Commits on Oct 2, 2024

  1. Use rclcpp for logging everywhere 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  2. Cancellation flow 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  3. Make sure cancellation is done on worker 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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Commits on Oct 3, 2024

  1. Use updated topic names 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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Commits on Oct 4, 2024

  1. Clean up reservatiion Manager 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  2. Minor renames 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  3. Merge remote-tracking branch 'origin/main' into arjo/feat/integrated_… 

    …ressys
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  4. Fix compile error and rename variable to be more readable 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  5. Remove key stroke 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  6. Fix logging levels and log robot id 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  7. Remove retry timer. 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  8. Merge branch 'main' into arjo/feat/integrated_ressys

    @mxgrey
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  9. Refactor 

    Signed-off-by: Arjo Chakravarty <[email protected]>
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  10. Merge branch 'arjo/feat/integrated_ressys' of github.com:open-rmf/rmf… 

    …_ros2 into arjo/feat/integrated_ressys
    @arjo129
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