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fix(rmf_mock_robot_sim): accurately compute and publish Progress across all plan states - #67
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…oss all plan states Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
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Bug fix
Fixed bug
Thus far I have been approximating a plan's progress by the robot's odometry from within the
plan_executor. While this worked well for the demo where robots only update their plans based on odometry observed from the executor. It is fundamentally wrong according to the spec. The rationale that I used for this was to expedite development velocity so that I would not have to touch the largely vibe-codedrmf_mock_robot_sim. However as I move towards a system that allows a mix of different tasks, it becomes clear that odometry is no longer a good source of truth for progress. For instance when a robot is performing a transfer of an item, it would be could be stationary and at the end point, but it may not have completed its transfer The spec already outlines this and it was pointed out to me by @xiyuoh early in may.Fix applied
This PR does not fix the problem of the executor estimating progress based on the robot's progress, but it does update the
rmf_mock_robot_sim(and thus our testing and web sandbox infrastructure) so that it actually publishes progress on the progress topic.GenAI Use
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