Workcells

Currently RMF has 2 types of sample workcells, namely: Dispenser and Ingestor.

Message Types	ROS2 Topic	Description
`rmf_dispenser_msgs/DispenserRequest`	`/dispenser_reqeusts`	Direct requests subscribed by the dispenser node
`rmf_dispenser_msgs/DispenserResult`	`/dispenser_results`	Result of a dispenser request, published by the dispenser
`rmf_dispenser_msgs/DispenserState`	`/dispenser_states`	State of the dispenser published by the dispenser periodically
`rmf_ingestor_msgs/IngestorRequest`	`/ingestor_requests`	Direct requests subscribed by the ingestor node
`rmf_ingestor_msgs/IngestorResult`	`/ingestor_results`	Result of a ingestor request, published by the ingestor
`rmf_ingestor_msgs/IngestorState`	`/ingestor_states`	State of the dispenser published by the ingestor periodically

In rmf_demos world, both TeleportDispenser and TeleportIngestor plugins act as workcell adapter nodes.

Workcells currently work alongside with Delivery Task. In fleet_adapter.lauch.xml, perform_deliveries needs to be true for the robot to accept a delivery task.

A Full Delivery:

The robot will first move to the pickup_waypoint
Requests a DispenserRequest till receives a DispenserResult. (Done Dispensing)
Continue delivery and moves to dropoff_waypoint
Requests a IngestorRequest till receives a IngestorResult. (Done Ingesting)