Ensuring Task Assignment to the Appropriate Fleet in RMF Based on Capabilities

[Samaleke]

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Description

I have two fleets with different capabilities, and I need to create a composite task that can only be performed by one of the fleets. How can I ensure that the RMF task dispatcher assigns the task only to the fleet capable of performing it?

[xiyuoh]

Hello! You can configure the performable actions a fleet is capable of in its fleet config. For example in our Office demos here, we specify that the tinyRobot fleet is capable of performing the teleop action.

[osama-z-salah]

Hi @xiyuoh,

I'm encountering a similar issue. I've configured two fleets, each with a distinct action using the "actions:" field in the config file. For example, the first fleet is set up to perform action_1, while the second fleet is configured to handle action_2.

However, when I send a composed task that includes a phase of preform action_2, sometimes the task is incorrectly assigned to a robot from fleet 1, which is not capable of performing that action.

[xiyuoh]

Hello @osama-z-salah ! That is strange, could you provide a sample of the fleet configs + task JSON for me to take a better look?