Define new Phase Descriptions
mxgrey opened this issue · comments
Grey commented
As part of open-rmf/rmf_ros2#107 we should start defining the Description
s of the new Phase types.
We could start immediately on these task types:
-
PerformAction
(we will need theDescription
to have a parameter for an estimated duration for the action) -
ParkUntil
(we will need theDescription
to have a parameter for an estimated duration of the parking) -
Call
-
SMS
-
RepeatN
-
While
(we will need theDescription
to have a parameter for an estimated number of repetitions so the planner can deal with this phase) -
ParallelGroup
This phase will require #42 before we can support it:
-
RepeatIndefinitely
The APIs for these different phase Descriptions should be put into the rmf_task_sequence/phases include directory.
Grey commented
On this topic, maybe the Phases that are supposed to be repeaters shouldn't be phases, but instead we should incorporate it into the rmf_task_sequence::Task::Builder
API, e.g. by providing add_repeated_phase
and add_phase_while
functions.