Add missing argument when checking for fleet delivery capability

There is a small bug preventing the MiR fleet adapter to be used with delivery task. This PR aims to solve it.

If setting the delivery task capability to True in the config, the following crash would happen when trying to launch the fleet adapter:

ros2 run fleet_adapter_mir fleet_adapter_mir -c $CONFIG_FILE -n $NAV_GRAPH -d
Starting mir fleet adapter...

== Initialising MiR Robot Command Handles with Config ==
{'node_names': {'fleet_state_publisher': 'rmf_mir_fleet_state_publisher',
                'rmf_fleet_adapter': 'TestDeliveryAdapter',
                'robot_command_handle': 'rmf_mir_fleet_command_handler'},
 'reference_coordinates': {'mir': [[30.65, 6.7],
                                   [23.1, 6.85],
                                   [22.0, 13.0],
                                   [31.3, 9.3]],
                           'rmf': [[3.095, -11.2258],
                                   [10.3341, -9.4423],
                                   [13.5864, -15.0028],
                                   [3.3573, -14.0595]]},
 'rmf_fleet': {'account_for_battery_drain': True,
               'ambient_system': {'power': 20.0},
               'battery_system': {'capacity': 40.0,
                                  'charging_current': 26.4,
                                  'voltage': 24.0},
               'cleaning_system': {'power': 650.0},
               'fleet_state_publish_frequency': 1,
               'fleet_state_topic': 'fleet_states',
               'limits': {'angular': [1.0, 0.45], 'linear': [0.7, 0.3]},
               'mechanical_system': {'friction_coefficient': 0.2,
                                     'mass': 80.0,
                                     'moment_of_inertia': 20.0},
               'name': 'test_fleet',
               'profile': {'footprint': 0.4, 'vicinity': 0.5},
               'publish_fleet_state': True,
               'recharge_soc': 1.0,
               'recharge_threshold': 0.01,
               'reversible': False,
               'task_capabilities': {'action_categories': ['custom_mission_1'],
                                     'clean': False,
                                     'delivery': False,
                                     'finishing_request': 'nothing',
                                     'loop': True}},
 'robots': {'my_test_robot': {'mir_config': {'base_url':   <REMOVED FFROM LOG FOR SECURITY REASONS>,
                                             'dock_and_charge_mission': 'docking_mission_test',
                                             'password': 'Basic '
                                                         <REMOVED FROM LOG FOR SECURITY REASONS>,
                                             'rmf_move_mission': 'rmf_default_move_mission',
                                             'user': 'application/json'},
                              'rmf_config': {'charger': {'waypoint': 'charger_waypoint'},
                                             'robot_state_update_frequency': 1,
                                             'start': {'map_name': 'L1',
                                                       'max_merge_lane_distance': 3.0,
                                                       'max_merge_waypoint_distance': 3.0}}}}}

Fleet [test_fleet] is configured to perform Loop tasks
Fleet [test_fleet] is configured to perform action of category [custom_mission_1]
Traceback (most recent call last):
  File "/rmf_demos_ws/install/fleet_adapter_mir/lib/fleet_adapter_mir/fleet_adapter_mir", line 33, in <module>
    sys.exit(load_entry_point('fleet-adapter-mir==0.1.0', 'console_scripts', 'fleet_adapter_mir')())
  File "/rmf_demos_ws/install/fleet_adapter_mir/lib/python3.10/site-packages/fleet_adapter_mir/fleet_adapter_mir.py", line 351, in main
    robots = create_robot_command_handles(config, handle_data, dry_run=dry_run)
  File "/rmf_demos_ws/install/fleet_adapter_mir/lib/python3.10/site-packages/fleet_adapter_mir/fleet_adapter_mir.py", line 250, in create_robot_command_handles
    assert starts, ("Robot %s can't be placed on the nav graph!"
AssertionError: Robot my_test_robot can't be placed on the nav graph!
[ros2run]: Process exited with failure 1

This is due to this function call : https://github.com/osrf/fleet_adapter_mir/blob/92c457d7713f5c12ccad1208a85d445d937c6635/fleet_adapter_mir/fleet_adapter_mir.py#L160

consider_delivery_request needs a confirmation for both pickup and dropoff. This is fixed in this PR.

This solution was tested successfully on a real MiR100. The fleet adapter is running and able to carry out delivery tasks.

open-rmf / fleet_adapter_mir

Add missing argument when checking for fleet delivery capability #26