UI to close lanes (blocked areas)

[Yadunund]

It is desirable to allow users to draw bounding boxes on the map that represent areas that are blocked. The dashboard should then determine which lanes for the different fleets will be blocked and appropriately publish rmf_fleet_msgs::LaneReqest msg over the /lane_closure_requests topic.

[koonpeng]

The LaneRequest message takes a uint64[], but what values should be put into it?

[Yadunund]

These values should be the indices of the lanes in the navgraph file exported by building_map_tools. The dashboard can use the navgraphs in the BuildingMap message to infer the indices. Once caveat is to make sure the order of the lanes is the same between both sources.

[koonpeng]

@codebot Also considering the authorization system. How do we handle complex situations like

• Part of the lane is outside the region the user has access to.
  • An extension of that, in order to know what lane to block, the dashboard needs to know the lanes available, since the lanes includes nav graph information, it causes information leak.
  • While we are on the same topic, this is also a problem for trajectories, if part of the trajectory is inside regions the user does not have access to, it causes information leak.
• Possibility to abuse the system by blocking certain lanes, causing the robot to re-route to other regions the user does not have access to. Indirectly giving the user the ability to send robots to regions outside their access levels.
  • As an extension, the user can make tasks they don't have access to fail/stuck by blocking the lanes needed. This is possible if region a user has access to is connected to any region (directly or indirectly) to any region they don't have access to.