[Feature request]: Fire alarm separation for different fleets #658
Description
Before proceeding, is there an existing issue or discussion for this?
- I have done a search for similar issues and discussions.
Description
Our current deployment uses one RMF instance for two different buildings and in the event when a fire alarm is triggered for one building, ALL robots will go into parking.
This does not make sense for robots in the other building.
The current msg type for the emergency signal is a boolean message, which does not indicate which building or fleet it is meant for.
But since there is no concept of buildings in RMF, I think a fleet-based approach would be best.
Implementation Considerations
The new emergency message will be
EmergencySignal.msg
string[] fleet_names
bool is_emergency
The fleet_names array allow users to specifc which fleet should react to this signal. And in the scenario where this array is empty, ALL robots will react to the signal.
Alternatives
No response
Additional information
No response