[Feature request]: Workcell support and dispenser / ingestor integration

[luca-della-vedova]

Before proceeding, is there an existing issue or discussion for this?

• I have done a search for similar issues and discussions.

Description

Span out of #210 since this is one of the TODOs for cleaning up SDF export. Legacy traffic editor has a bit of a confusing support for dispensers and ingestors, specifically:

• In all our demos we use a model (i.e. TeleportDispenser) that runs a plugin with a dispenser interface, this is what actually does the dispensing.
• There is also a traffic editor property, called pickup_dispenser, that however seems to not be used, specifically this is a grep on my workspace:

~/noble_ws/src/rmf$ grep -r . -e pickup_dispenser
./rmf_traffic_editor/rmf_building_map_tools/building_map_server/building_map_server.py:                                  "pickup_dispenser",
./rmf_traffic_editor/rmf_traffic_editor/gui/vertex.h:  std::string pickup_dispenser() const;
./rmf_traffic_editor/rmf_traffic_editor/gui/vertex.cpp:  { "pickup_dispenser", Param::Type::STRING },
./rmf_traffic_editor/rmf_traffic_editor/gui/vertex.cpp:  /// space for the icon, also "pickup_dispenser, dropoff_ingestor,
./rmf_traffic_editor/rmf_traffic_editor/gui/vertex.cpp:  if (!pickup_dispenser().empty())
./rmf_traffic_editor/rmf_traffic_editor/gui/vertex.cpp:std::string Vertex::pickup_dispenser() const
./rmf_traffic_editor/rmf_traffic_editor/gui/vertex.cpp:  const auto it = params.find("pickup_dispenser");
./rmf_ros2/rmf_traffic_ros2/test/resources/office_map.geojson:        "pickup_dispenser": "coke_dispenser"
./rmf_ros2/rmf_task_ros2/src/rmf_task_ros2/Dispatcher.cpp:        pickup["handler"] = delivery.pickup_dispenser;
./rmf_ros2/rmf_fleet_adapter/src/rmf_fleet_adapter/agv/FleetUpdateHandle.cpp:        .pickup_dispenser(msg["handler"].get<std::string>())
./rmf_ros2/rmf_fleet_adapter/src/rmf_fleet_adapter/agv/FleetUpdateHandle.cpp:        .pickup_dispenser("")
./rmf_ros2/rmf_fleet_adapter_python/tests/unit/test_types.py:                               "pickup_dispenser",
./rmf_ros2/rmf_fleet_adapter_python/tests/unit/test_types.py:    assert msg.pickup_dispenser == "pickup_dispenser"
./rmf_ros2/rmf_fleet_adapter_python/tests/unit/test_types.py:    msg.pickup_dispenser += "_rawr"
./rmf_ros2/rmf_fleet_adapter_python/tests/unit/test_types.py:    assert msg.pickup_dispenser == "pickup_dispenser_rawr"
./rmf_ros2/rmf_fleet_adapter_python/src/types/types.cpp:  std::string pickup_dispenser,
./rmf_ros2/rmf_fleet_adapter_python/src/types/types.cpp:  request.pickup_dispenser = pickup_dispenser;
./rmf_ros2/rmf_fleet_adapter_python/src/types/types.cpp:    py::arg("pickup_dispenser") = "",
./rmf_ros2/rmf_fleet_adapter_python/src/types/types.cpp:    "pickup_dispenser",
./rmf_ros2/rmf_fleet_adapter_python/src/types/types.cpp:    [&](Delivery& self) { return self.pickup_dispenser; },
./rmf_ros2/rmf_fleet_adapter_python/src/types/types.cpp:    std::string pickup_dispenser)
./rmf_ros2/rmf_fleet_adapter_python/src/types/types.cpp:      self.pickup_dispenser = pickup_dispenser;
./rmf_internal_msgs/rmf_task_msgs/msg/Delivery.msg:string pickup_dispenser

It's made of the following sections:

• rmf_traffic_editor: Just the GUI to populate it and the building_map_server to publish it as a parameter.
• rmf_fleet_adapter / rmf_task_ros2, Actually referring to the pickup_dispenser field in the Delivery.msg message, not the vertex parameter.
• rmf_fleet_adapter_python seems to just be bindings for the Delivery.msg.

Now the question is how do we port this to the site editor? There is a (currently unused) LocationTag for Workcells. It is technically possible to "just" import TeleportDispenser and TeleportIngestor models into a new LocationTag::Workcell location, but we should probably be more careful before locking into that data format / implementation, and make sure we can capture all the information we might need from a workcell.

Implementation Considerations

No response

Alternatives

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Additional information

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