工作单元
目前RMF有2种类型的样品工作单元，分别是：“Dispenser”和“Ingestor”。
| Message Types | ROS2 Topic | Description |
|---|---|---|
rmf_dispenser_msgs/DispenserRequest | /dispenser_reqeusts | Direct requests subscribed by the dispenser node |
rmf_dispenser_msgs/DispenserResult | /dispenser_results | Result of a dispenser request, published by the dispenser |
rmf_dispenser_msgs/DispenserState | /dispenser_states | State of the dispenser published by the dispenser periodically |
rmf_ingestor_msgs/IngestorRequest | /ingestor_requests | Direct requests subscribed by the ingestor node |
rmf_ingestor_msgs/IngestorResult | /ingestor_results | Result of a ingestor request, published by the ingestor |
rmf_ingestor_msgs/IngestorState | /ingestor_states | State of the dispenser published by the ingestor periodically |
In rmf_demos world, both TeleportDispenser and TeleportIngestor
plugins 充当工作单元适配器节点。
工作单元目前与交付任务一起工作. In fleet_adapter.lauch.xml,
perform_deliveries 机器人接受送货任务时需要为true。
完整配送：
- 机器人将首先移动到
pickup_waypoint - 请求
DispenserRequest直到收到DispenserResult。（分配完成） - 继续配送并移动到
dropoff_waypoint - 请求
IngestorRequest直到收到IngestorResult。（摄取完成）