update task request to include fleet_name for fleet-level task

rmf_demos_tasks/rmf_demos_tasks/dispatch_action.py

@@ -103,6 +103,9 @@ def __init__(self, argv=sys.argv):
 
         # Define task request category
         request["category"] = "compose"
+
+        if self.args.robot is None and self.args.fleet:
+            request["fleet_name"] = self.args.fleet
 
         # Define task request description with phases
         description = {}  # task_description_Compose.json

rmf_demos_tasks/rmf_demos_tasks/dispatch_clean.py

@@ -94,6 +94,9 @@ def __init__(self, argv=sys.argv):
 
         # Define task request category
         request["category"] = "compose"
+
+        if self.args.robot is None and self.args.fleet:
+            request["fleet_name"] = self.args.fleet
 
         # Define task request description with cleaning zone
         description = {}  # task_description_Compose.json

rmf_demos_tasks/rmf_demos_tasks/dispatch_delivery.py

@@ -119,6 +119,9 @@ def __init__(self, argv=sys.argv):
         now.sec = now.sec + self.args.start_time
         start_time = now.sec * 1000 + round(now.nanosec/10**6)
         request["unix_millis_earliest_start_time"] = start_time
+
+        if self.args.robot is None and self.args.fleet:
+            request["fleet_name"] = self.args.fleet
 
         def __create_pickup_desc(index):
             if index < len(self.args.pickup_payloads):

rmf_demos_tasks/rmf_demos_tasks/dispatch_go_to_place.py

@@ -117,6 +117,9 @@ def __init__(self, argv=sys.argv):
             },
             'unix_millis_earliest_start_time': start_time
         }
+
+        if self.args.robot is None and self.args.fleet:
+            rmf_task_request["fleet_name"] = self.args.fleet
 
         payload["request"] = rmf_task_request
 

rmf_demos_tasks/rmf_demos_tasks/dispatch_patrol.py

@@ -99,6 +99,9 @@ def __init__(self, argv=sys.argv):
 
         # Define task request category
         request["category"] = "patrol"
+
+        if self.args.robot is None and self.args.fleet:
+            request["fleet_name"] = self.args.fleet
 
         # Define task request description
         description = {

rmf_demos_tasks/rmf_demos_tasks/dispatch_teleop.py

@@ -39,9 +39,9 @@ class TaskRequester(Node):
     def __init__(self, argv=sys.argv):
         super().__init__('task_requester')
         parser = argparse.ArgumentParser()
-        parser.add_argument('-F', '--fleet', required=False, default='',
+        parser.add_argument('-F', '--fleet', required=False, 
                             type=str, help='Fleet name')
-        parser.add_argument('-R', '--robot', required=False, default='',
+        parser.add_argument('-R', '--robot', required=False, 
                             type=str, help='Robot name')
         parser.add_argument('-s', '--start', required=True,
                             type=str, help='Start waypoint')
@@ -93,7 +93,10 @@ def __init__(self, argv=sys.argv):
 
         # Define task request category
         request["category"] = "compose"
-
+
+        if self.args.robot is None and self.args.fleet:
+            request["fleet_name"] = self.args.fleet
+
         # Define task request description with phases
         description = {}  # task_description_Compose.json
         description["category"] = "teleop"