^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Changelog for package rmf_fleet_adapter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2.11.1 (2025-07-21) ------------------- * Fix a race condition that can cause an endless loop when waiting for a lift (`#449 `_) * Fix orientation mismatch when !skip_rotation_commands (`#422 `_) * Migrate fleet_adapter to target_link_libraries (`#438 `_) * Contributors: Grey, Luca Della Vedova 2.11.0 (2025-06-09) ------------------- 2.10.1 (2025-05-13) ------------------- * Add dependency on rclcpp_action (`#431 `_) 2.10.0 (2025-05-09) ------------------- * Add a timer to log the size of planner caches (`#427 `_) * Fix goal orientation constraint (`#426 `_) * Log reason for rejecting dynamic event goals (`#419 `_) * Completely Excise Reservation Cancellation pathways (`#416 `_) * Reduce churn in lift supervisor (`#418 `_) * Dynamic Event Action Server (`#410 `_) * Improve arrival time predictions for lanes with speed limits (`#400 `_) * Ensure correct docking orientation (`#414 `_) * Direct robot task request estimation feature (`#408 `_) * Giving options to separate fire alarm by fleet names (`#413 `_) * Update documentation for RobotCommandHandle (`#409 `_) * Remove bad optional access (`#406 `_) * Fix potential issues around tasks starting (`#403 `_) * Fix the criteria for replanning (`#405 `_) * Do not update assignments if bid notice is for a dry run (`#401 `_) * Use unique name for exported targets and avoid exporting binary targets (`#396 `_) * Do not skip waypoint if orientation is not aligned (`#398 `_) * Contributors: Arjo Chakravarty, Chen Bainian, Cheng-Wei Chen, Grey, Jun, Luca Della Vedova, Xiyu, lkw303, yadunund 2.9.0 (2024-11-27) ------------------ * Add reached API to read-only fleet adapter (`#387 `_) * Fix lift disruption issue (`#393 `_) * Allow automatic action cancellation to be toggled (`#392 `_) * Adds a simple parking spot management system. (`#325 `_) * Publish fleet and task updates over ROS 2 if websocket is not provided (`#383 `_) * Allow robot-specific finishing request and specify parking spots (`#379 `_) * Issue relocalization command if the robot is on the wrong map (`#316 `_) * set request_time in lift end session request. (`#385 `_) * Update _last_active_task_time if robot is executing task (`#384 `_) * Populate `Booking.Priority`, added schema to validate `Priority` (`#381 `_) * Emergency trigger to use transient local qos (`#341 `_) * Add a timeout before automatically releasing lift (`#369 `_) * Configure strict lanes (`#367 `_) * Only fail on_cancel deserializations when none of the activities are possible (`#378 `_) * Fix a minor typo in fleet adapter error log (`#307 `_) * Provide an API that says the robot's lift destination (`#376 `_) * Populate LiftProperties for Destination in localize callbacks (`#373 `_) * Revert "Event based lift / door logic (`#320 `_)" (`#372 `_) * Update with new RobotMode field (`#345 `_) * Quiet cancel API (`#357 `_) * Contributors: Aaron Chong, Arjo Chakravarty, Grey, Luca Della Vedova, Xiyu, cwrx777 2.8.0 (2024-06-12) ------------------ 2.7.1 (2024-06-11) ------------------ * Fix charging status (`#347 `_) * Contributors: Grey 2.7.0 (2024-06-01) ------------------ * Fix race condition for ingesting/dispensing and disable uncrustify tests by default (`#362 `_) * Event based lift / door logic (`#320 `_) * Filter DoorOpen insertion by map name (`#353 `_) * Fix schema dictionary used during robot status override (`#349 `_) * Add fleet-level reassign dispatched tasks API (`#348 `_) * Automatically begin or cancel idle behavior when commission changes (`#346 `_) * Disable automatic retreat (`#330 `_) * Manual release of mutex groups (`#339 `_) * Stabilize commissioning feature (`#338 `_) * Release other mutexes if robot started charging (`#334 `_) * Support labels in booking information (`#328 `_) * Fix interaction between emergency pullover and finishing task (`#333 `_) * Contributors: Aaron Chong, Grey, Luca Della Vedova, Xiyu, Yadunund 2.6.0 (2024-03-13) ------------------ * Removes a line of dead code (`#322 `_) * include cstdint header (`#331 `_) * Add Backward-ROS for improved logging in event of segfaults (`#327 `_) * Explicitly specify all qos depth (`#323 `_) * Add support of fleet-level task (`#317 `_) * Fix minor logging error (`#318 `_) * Contributors: Arjo Chakravarty, Teo Koon Peng, Yadunund, cwrx777 2.5.0 (2023-12-22) ------------------ * Fix edge case when starting on a lane (`#312 `_) * Update `GoToPlace` to allow finding nearest spot (`#308 `_) * Contributors: Arjo Chakravarty, Grey 2.4.0 (2023-12-15) ------------------ * Mutex Groups, localization hook, dynamic charging, and new graph elements (`#310 `_) 2.3.2 (2023-08-28) ------------------ * Improve linking time (`#297 `_) * EasyFullControl API (`#235 `_) * Contributors: Grey, Luca Della Vedova, Xiyu, Yadunund 2.3.1 (2023-08-10) ------------------ * Remove duplicate task schemas (`#294 `_) * Fix comparator for direct assignment ordering (`#288 `_) * Adding initiator and request time to booking (`#267 `_) * Contributors: Aaron Chong, Omar Hamza, Yadunund 2.3.0 (2023-06-08) ------------------ 2.2.0 (2023-06-06) ------------------ * Fix race condition related to the ``finished`` callback of ``perform_action`` events: (`#273 `_) * Switch to rst changelogs (`#276 `_) * Contributors: Grey, Yadunund 2.1.5 (2023-05-20) ------------------ * Reformat code to meet expectations of uncrustify-0.72.0: (`#274 `_) * Contributors: Yadunund 2.1.4 (2023-04-27) ------------------ 2.1.3 (2023-04-26) ------------------ * Fix emergency response for waiting robots: (`#253 `_) * Properly cleanup emergency pullover task: (`#258 `_) * Fix priority assignment when parsing tasks: (`#265 `_) * Link Threads to fix build errors on certain platforms: (`#204 `_) * Contributors: decada-robotics, Luca Della Vedova, Grey, Yadunund 2.1.2 (2022-10-10) ------------------ 2.1.0 (2022-10-03) ------------------ * Add API to update speed limits for lanes: (`#217 `_) * Make async behaviors more robust: (`#228 `_) * Allow fleet adapters to change schedule participant profiles: (`#229 `_) * Allow robots to be decommissioned from the task dispatch system: (`#233 `_) * Allow manual toggling of stubborn negotiation: (`#196 `_) * Allow users to specify a custom update listener: (`#198 `_) * Introduce `WaitUntil` activity and use it in the `ResponsiveWait`: (`#199 `_) * Better support for patrol behaviors: (`#205 `_) * Allow `ResponsiveWait` to be enabled and disabled: (`#209 `_) * Publish the navigation graph of the fleet adapter: (`#207 `_) * Allow robot status to be overridden by the user: (`#191 `_) * Add API to report status for `perform_action`: (`#190 `_) * Add APIs for cancelling and killing tasks from the `RobotUpdateHandle`: (`#205 `_) * Add a WaitUntil event and use it for ResponsiveWait: (`#199 `_) 2.0.0 (2022-03-18) ------------------ * Update to traffic dependency system: (`#188 `_) 1.5.0 (2022-02-14) ------------------ * Support flexible task definitions (`#168 `_) * Add lane speed limit to graph parsing function (`#124 `_) * Support for geojson graphs (`#142 `_) 1.4.0 (2021-09-01) ------------------ * Add read_only_blockade adapter: (`#110 `_) * Accommodate finishing tasks: (`#108 `_) * Check if lane request's fleet_name is equal to the fleet's fleet_name: (`#95 `_) * Find nearest waypoint among starts: (`#98 `_) 1.3.0 (2021-06-07) ------------------ * Add API for opening and closing lanes: (`#15 `_) * Added `open_lanes` and `close_lanes` CLI tools for issuing requests * Allow Traffic Light APIs to update the location of a robot while it is idle: (`#270 `_) * Allow TrafficLight and EasyTrafficLight API to update battery level: (`#263 `_) * Migrating to a task dispatcher framework: (`#21 `_) * The `rmf_fleet_adapter::agv` component interacts with a dispatcher node over topics with `rmf_task` prefix as specified in `rmf_fleet_adapter/StandardNames.hpp` * Support for executing tasks at specified timepoints * Support for `Loop`, `Delivery`, `Clean` and `ChargeBattery` tasks * Introduce ResponsiveWait: (`#308 `_) * The new ResponsiveWait task phase can be used to have idle/waiting robots respond to schedule conflicts * Idle robots (robots that do not have an assigned task) will automatically enter ResponsiveWait mode 1.2.0 (2021-01-05) ------------------ * Automatically publish fleet states from the fleet adapter API: (`#232 `_) * Easy Traffic Light API: (`#226 `_) * Gridlock-proof Traffic Light Implementation: (`#226 `_) 1.1.0 (2020-09-24) ------------------ * Traffic Light API: (`#147 `_) (`#176 `_) (`#180 `_) * Allow fleet adapters to adjust the maximum delay: (`#148 `_) * Full Control Fleet Adapters respond to emergency alarm topic: (`#162 `_) * Migrating to ROS2 Foxy: (`#133 `_) * Contributors: Chen Bainian, Grey, Kevin_Skywalker, Marco A. Gutiérrez, Rushyendra Maganty, Yadu 1.0.2 (2020-07-27) ------------------ * Always respond to negotiations: (`#138 `_) 1.0.1 (2020-07-20) ------------------ * Interrupt dangling negotiation planning efforts to reduce memory usage: (`#130 `_) * Trim the amount of system memory that is committed to a fleet adapter after each task: (`#130 `_) 1.0.0 (2020-06-23) ------------------ * Provides `rmf_fleet_adapter` library * The `rmf_fleet_adapter::agv` component can be used to develop a custom "Full Control" fleet adapter * `rmf_fleet_adapter/StandardNames.hpp` specifies topic names that are used for RMF integration * Provides a prototype `read_only` fleet adapter implementation * This will be deprecated in the future in favor of a C++ API * To use this fleet adapter, you must implement a "read-only fleet driver" to talk to the fleet adapter using `rmf_fleet_msgs` * Provides a deprecated `full_control` fleet adapter implementation * This is made to be backwards compatible with "full-control fleet drivers" that were developed in the early stages of RMF * New users should prefer to implement their own fleet adapter using the `rmf_fleet_adapter::agv` API * Uses rxcpp to make the fleet adapters reactive and multi-threaded * Has a known memory leak issue which will be resolved in a later release * Contributors: Aaron Chong, Charayaphan Nakorn Boon Han, Marco A. Gutiérrez, Grey, Yadu, Yadunund, koonpeng, methylDragon