This PR introduces a new feature to the TaskManagers in the full control fleet adapters. If a robot in a fleet is idle (no active task and task queue is empty) and its battery state of charge drops to a level such that it can barely make it back to its charger, then the TaskManager automatically queues up a ChargeBattery task for the robot. The robot will then make its way back to its charger to recharge.
Some details:
The TaskManager checks for the above condition every 10 seconds
barely here is set to 20% of the robot's threshold state of charge . ie, if the robot can only reach the charger with less than 20% more charge than the threshold soc, the automatic retreat will initiate (assuming robot is idle)
This PR introduces a new feature to the TaskManagers in the full control fleet adapters. If a robot in a fleet is idle (no active task and task queue is empty) and its battery state of charge drops to a level such that it can barely make it back to its charger, then the TaskManager automatically queues up a
ChargeBatterytask for the robot. The robot will then make its way back to its charger to recharge.Some details: