Support multiple destinations with actions in nexus_transporter #69
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Signed-off-by: Yadunund <yadunund@gmail.com>
Signed-off-by: Yadunund <yadunund@gmail.com>
Signed-off-by: Yadunund <yadunund@gmail.com>
Signed-off-by: Yadunund <yadunund@gmail.com>
Signed-off-by: Yadunund <yadunund@gmail.com>
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This PR
nexus_transporter_msgsto include aDestinationmsg with fields to specify the type of action to perform at the destination.ItineraryandTransporterclasses to support multipleDestinations.SingleThreadedExecutor(default). This was previously set toMultiThreadedExecutorto deal with making a registration client request within a timer callback which leads to a deadlock. This is resolved in the same way the Workcell Orchestrator handles it, ie, relying on async client requests.mock_transporterplugin implementation fromnexus_integration_teststo `nexus_transporter.As a follow up, I will update rmf_request interfaces introduced in #42 with the Destination definition here and explore a native RMF plugin implementation.