Fixed bugs after hardware testing - Githubissues

open-rmf / fleet_adapter_mir

RMF/RoMi-H fleet adapter for the MiR API

Apache License 2.0

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Fixed bugs after hardware testing #40

Open xiyuoh opened 3 days ago

xiyuoh commented 3 days ago

This PR fixes a few bugs on the new PerformAction features for cart delivery:

Rename CartDetection class to BaseCartDetection for ease of user integration - the abstract class will be BaseCartDetection while the implemented class will be CartDetection
Fixed dispatch_delivery task JSON was not following schema correctly
Use the new set_automatic_cancel API
Corrected a few other stray bugs

Scenarios tested:

[x] Normal delivery
[x] Cancel after pickup and before dropoff
[x] Cancel during pickup
[x] Cancel during dropoff
[x] Submit delivery with robot latch already open