![]() |
rmf_fleet_adapter package from rmf_ros2 repormf_fleet_adapter rmf_fleet_adapter_python rmf_task_ros2 rmf_traffic_ros2 rmf_websocket |
|
Package Summary
Tags | No category tags. |
Version | 2.1.2 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/open-rmf/rmf_ros2.git |
VCS Type | git |
VCS Version | humble |
Last Updated | 2022-10-10 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Grey
- Aaron
- Marco A. Gutiérrez
Authors
rmf_fleet_adapter package
This package contains the various fleet adapter nodes for different levels of control.
Using specific messages from rmf_fleet_msgs
, it communicates with proprietary fleet drivers and managers through ROS 2.
Quality Declaration
This package claims to be in the Quality Level 4 category. See the Quality Declaration for more details.
Changelog for package rmf_fleet_adapter
2.1.2 (2022-10-10)
2.1.0 (2022-10-03)
- Add API to update speed limits for lanes: #217
- Make async behaviors more robust: #228
- Allow fleet adapters to change schedule participant profiles: #229
- Allow robots to be decommissioned from the task dispatch system: #233
- Allow manual toggling of stubborn negotiation: #196
- Allow users to specify a custom update listener: #198
- Introduce
WaitUntil
activity and use it in theResponsiveWait
: #199 - Better support for patrol behaviors: #205
- Allow
ResponsiveWait
to be enabled and disabled: #209 - Publish the navigation graph of the fleet adapter: #207
- Allow robot status to be overridden by the user: #191
- Add API to report status for
perform_action
: #190 - Add APIs for cancelling and killing tasks from the
RobotUpdateHandle
: #205 - Add a WaitUntil event and use it for ResponsiveWait: #199
2.0.0 (2022-03-18)
- Update to traffic dependency system: #188
1.5.0 (2022-02-14)
- Support flexible task definitions #168
- Add lane speed limit to graph parsing function #124
- Support for geojson graphs #142
1.4.0 (2021-09-01)
- Add read_only_blockade adapter: #110
- Accommodate finishing tasks: #108
- Check if lane request's fleet_name is equal to the fleet's fleet_name: #95
- Find nearest waypoint among starts: #98
1.3.0 (2021-06-07)
- Add API for opening and closing lanes: #15
- Added
open_lanes
andclose_lanes
CLI tools for issuing requests
- Added
- Allow Traffic Light APIs to update the location of a robot while it is idle: #270
- Allow TrafficLight and EasyTrafficLight API to update battery level: #263
- Migrating to a task dispatcher framework: #217
- The
rmf_fleet_adapter::agv
component interacts with a dispatcher node over topics withrmf_task
prefix as specified inrmf_fleet_adapter/StandardNames.hpp
- Support for executing tasks at specified timepoints
- Support for
Loop
,Delivery
,Clean
andChargeBattery
tasks
- The
- Introduce ResponsiveWait: #308
- The new ResponsiveWait task phase can be used to have idle/waiting robots respond to schedule conflicts
- Idle robots (robots that do not have an assigned task) will automatically enter ResponsiveWait mode
1.2.0 (2021-01-05)
- Automatically publish fleet states from the fleet adapter API: #232
- Easy Traffic Light API: #226
- Gridlock-proof Traffic Light Implementation: #226
1.1.0 (2020-09-24)
- Traffic Light API: #147 #176 #180
- Allow fleet adapters to adjust the maximum delay: #148
- Full Control Fleet Adapters respond to emergency alarm topic: #162
- Migrating to ROS2 Foxy: #133
- Contributors: Chen Bainian, Grey, Kevin_Skywalker, Marco A. Gutiérrez, Rushyendra Maganty, Yadu
1.0.2 (2020-07-27)
- Always respond to negotiations: #138
1.0.1 (2020-07-20)
- Interrupt dangling negotiation planning efforts to reduce memory usage: #130
- Trim the amount of system memory that is committed to a fleet adapter after each task: #130
1.0.0 (2020-06-23)
- Provides
rmf_fleet_adapter
library- The
rmf_fleet_adapter::agv
component can be used to develop a custom "Full Control" fleet adapter -
rmf_fleet_adapter/StandardNames.hpp
specifies topic names that are used for RMF integration
- The
- Provides a prototype
read_only
fleet adapter implementation- This will be deprecated in the future in favor of a C++ API
- To use this fleet adapter, you must implement a "read-only fleet driver" to talk to the fleet adapter using
rmf_fleet_msgs
- Provides a deprecated
full_control
fleet adapter implementation- This is made to be backwards compatible with "full-control fleet drivers" that were developed in the early stages of RMF
- New users should prefer to implement their own fleet adapter using the
rmf_fleet_adapter::agv
API
- Uses rxcpp to make the fleet adapters reactive and multi-threaded
- Has a known memory leak issue which will be resolved in a later release
- Contributors: Aaron Chong, Charayaphan Nakorn Boon Han, Marco A. Gutiérrez, Grey, Yadu, Yadunund, koonpeng, methylDragon
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/robot_state_aggregator.composition.launch.xml
-
- robot_prefix [default: ]
- fleet_name
- use_sim_time [default: false]
- subns [default: yin]
- buddy_subns [default: yang]
- active_node [default: true]
- verbose [default: true]
- failover_mode [default: false]
- launch/robot_state_aggregator.launch.xml
-
- failover_mode [default: false]
- robot_prefix [default: ]
- fleet_name
- use_sim_time [default: false]
- verbose [default: false]
- launch/fleet_adapter.launch.xml
-
- use_sim_time [default: false]
- control_type
- fleet_name
- nav_graph_file [default: ]
- linear_velocity
- angular_velocity
- linear_acceleration
- angular_acceleration
- footprint_radius
- vicinity_radius
- delay_threshold [default: 10.0]
- disable_delay_threshold [default: false]
- retry_wait [default: 10.0]
- discovery_timeout [default: 10.0]
- reversible [default: true]
- output [default: screen]
- perform_loop [default: false]
- perform_deliveries [default: false]
- perform_cleaning [default: false]
- finishing_request [default: nothing]
- battery_voltage
- battery_capacity
- battery_charging_current
- mass
- inertia
- friction_coefficient
- ambient_power_drain
- tool_power_drain
- drain_battery [default: false]
- recharge_threshold [default: 0.2]
- recharge_soc [default: 1.0]
- experimental_lift_watchdog_service [default: ]
- enable_responsive_wait [default: true]
- server_uri [default: ]
Messages
Services
Plugins
Recent questions tagged rmf_fleet_adapter at answers.ros.org
![]() |
rmf_fleet_adapter package from rmf_ros2 repormf_fleet_adapter rmf_fleet_adapter_python rmf_task_ros2 rmf_traffic_ros2 |
|
Package Summary
Tags | No category tags. |
Version | 1.4.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/open-rmf/rmf_ros2.git |
VCS Type | git |
VCS Version | foxy |
Last Updated | 2021-09-02 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Grey
- Aaron
- Marco A. Gutiérrez
Authors
rmf_fleet_adapter package
This package contains the various fleet adapter nodes for different levels of control.
Using specific messages from rmf_fleet_msgs
, it communicates with proprietary fleet drivers and managers through ROS 2.
Quality Declaration
This package claims to be in the Quality Level 4 category. See the Quality Declaration for more details.
Changelog for package rmf_fleet_adapter
1.4.0 (2021-09-01)
- Add read_only_blockade adapter: #110
- Accommodate finishing tasks: #108
- Check if lane request's fleet_name is equal to the fleet's fleet_name: #95
- Find nearest waypoint among starts: #98
1.3.0 (2021-06-07)
- Add API for opening and closing lanes: #15
- Added
open_lanes
andclose_lanes
CLI tools for issuing requests
- Added
- Allow Traffic Light APIs to update the location of a robot while it is idle: #270
- Allow TrafficLight and EasyTrafficLight API to update battery level: #263
- Migrating to a task dispatcher framework: #217
- The
rmf_fleet_adapter::agv
component interacts with a dispatcher node over topics withrmf_task
prefix as specified inrmf_fleet_adapter/StandardNames.hpp
- Support for executing tasks at specified timepoints
- Support for
Loop
,Delivery
,Clean
andChargeBattery
tasks
- The
- Introduce ResponsiveWait: #308
- The new ResponsiveWait task phase can be used to have idle/waiting robots respond to schedule conflicts
- Idle robots (robots that do not have an assigned task) will automatically enter ResponsiveWait mode
1.2.0 (2021-01-05)
- Automatically publish fleet states from the fleet adapter API: #232
- Easy Traffic Light API: #226
- Gridlock-proof Traffic Light Implementation: #226
1.1.0 (2020-09-24)
- Traffic Light API: #147 #176 #180
- Allow fleet adapters to adjust the maximum delay: #148
- Full Control Fleet Adapters respond to emergency alarm topic: #162
- Migrating to ROS2 Foxy: #133
- Contributors: Chen Bainian, Grey, Kevin_Skywalker, Marco A. Gutiérrez, Rushyendra Maganty, Yadu
1.0.2 (2020-07-27)
- Always respond to negotiations: #138
1.0.1 (2020-07-20)
- Interrupt dangling negotiation planning efforts to reduce memory usage: #130
- Trim the amount of system memory that is committed to a fleet adapter after each task: #130
1.0.0 (2020-06-23)
- Provides
rmf_fleet_adapter
library- The
rmf_fleet_adapter::agv
component can be used to develop a custom "Full Control" fleet adapter -
rmf_fleet_adapter/StandardNames.hpp
specifies topic names that are used for RMF integration
- The
- Provides a prototype
read_only
fleet adapter implementation- This will be deprecated in the future in favor of a C++ API
- To use this fleet adapter, you must implement a "read-only fleet driver" to talk to the fleet adapter using
rmf_fleet_msgs
- Provides a deprecated
full_control
fleet adapter implementation- This is made to be backwards compatible with "full-control fleet drivers" that were developed in the early stages of RMF
- New users should prefer to implement their own fleet adapter using the
rmf_fleet_adapter::agv
API
- Uses rxcpp to make the fleet adapters reactive and multi-threaded
- Has a known memory leak issue which will be resolved in a later release
- Contributors: Aaron Chong, Charayaphan Nakorn Boon Han, Marco A. Gutiérrez, Grey, Yadu, Yadunund, koonpeng, methylDragon
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/robot_state_aggregator.composition.launch.xml
-
- robot_prefix [default: ]
- fleet_name
- use_sim_time [default: false]
- subns [default: yin]
- buddy_subns [default: yang]
- active_node [default: true]
- verbose [default: true]
- failover_mode [default: false]
- launch/robot_state_aggregator.launch.xml
-
- failover_mode [default: false]
- robot_prefix [default: ]
- fleet_name
- use_sim_time [default: false]
- verbose [default: false]
- launch/fleet_adapter.launch.xml
-
- use_sim_time [default: false]
- control_type
- fleet_name
- nav_graph_file [default: ]
- linear_velocity
- angular_velocity
- linear_acceleration
- angular_acceleration
- footprint_radius
- vicinity_radius
- delay_threshold [default: 10.0]
- disable_delay_threshold [default: false]
- retry_wait [default: 10.0]
- discovery_timeout [default: 10.0]
- reversible [default: true]
- output [default: screen]
- perform_loop [default: false]
- perform_deliveries [default: false]
- perform_cleaning [default: false]
- finishing_request [default: nothing]
- battery_voltage
- battery_capacity
- battery_charging_current
- mass
- inertia
- friction_coefficient
- ambient_power_drain
- tool_power_drain
- drain_battery [default: false]
- recharge_threshold [default: 0.2]
- recharge_soc [default: 1.0]
- experimental_lift_watchdog_service [default: ]
Messages
Services
Plugins
Recent questions tagged rmf_fleet_adapter at answers.ros.org
![]() |
rmf_fleet_adapter package from rmf_ros2 repormf_fleet_adapter rmf_fleet_adapter_python rmf_task_ros2 rmf_traffic_ros2 rmf_websocket |
|
Package Summary
Tags | No category tags. |
Version | 2.1.2 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/open-rmf/rmf_ros2.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2022-12-12 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Grey
- Aaron
- Marco A. Gutiérrez
Authors
rmf_fleet_adapter package
This package contains the various fleet adapter nodes for different levels of control.
Using specific messages from rmf_fleet_msgs
, it communicates with proprietary fleet drivers and managers through ROS 2.
Quality Declaration
This package claims to be in the Quality Level 4 category. See the Quality Declaration for more details.
Changelog for package rmf_fleet_adapter
2.1.2 (2022-10-10)
2.1.0 (2022-10-03)
- Add API to update speed limits for lanes: #217
- Make async behaviors more robust: #228
- Allow fleet adapters to change schedule participant profiles: #229
- Allow robots to be decommissioned from the task dispatch system: #233
- Allow manual toggling of stubborn negotiation: #196
- Allow users to specify a custom update listener: #198
- Introduce
WaitUntil
activity and use it in theResponsiveWait
: #199 - Better support for patrol behaviors: #205
- Allow
ResponsiveWait
to be enabled and disabled: #209 - Publish the navigation graph of the fleet adapter: #207
- Allow robot status to be overridden by the user: #191
- Add API to report status for
perform_action
: #190 - Add APIs for cancelling and killing tasks from the
RobotUpdateHandle
: #205 - Add a WaitUntil event and use it for ResponsiveWait: #199
2.0.0 (2022-03-18)
- Update to traffic dependency system: #188
1.5.0 (2022-02-14)
- Support flexible task definitions #168
- Add lane speed limit to graph parsing function #124
- Support for geojson graphs #142
1.4.0 (2021-09-01)
- Add read_only_blockade adapter: #110
- Accommodate finishing tasks: #108
- Check if lane request's fleet_name is equal to the fleet's fleet_name: #95
- Find nearest waypoint among starts: #98
1.3.0 (2021-06-07)
- Add API for opening and closing lanes: #15
- Added
open_lanes
andclose_lanes
CLI tools for issuing requests
- Added
- Allow Traffic Light APIs to update the location of a robot while it is idle: #270
- Allow TrafficLight and EasyTrafficLight API to update battery level: #263
- Migrating to a task dispatcher framework: #217
- The
rmf_fleet_adapter::agv
component interacts with a dispatcher node over topics withrmf_task
prefix as specified inrmf_fleet_adapter/StandardNames.hpp
- Support for executing tasks at specified timepoints
- Support for
Loop
,Delivery
,Clean
andChargeBattery
tasks
- The
- Introduce ResponsiveWait: #308
- The new ResponsiveWait task phase can be used to have idle/waiting robots respond to schedule conflicts
- Idle robots (robots that do not have an assigned task) will automatically enter ResponsiveWait mode
1.2.0 (2021-01-05)
- Automatically publish fleet states from the fleet adapter API: #232
- Easy Traffic Light API: #226
- Gridlock-proof Traffic Light Implementation: #226
1.1.0 (2020-09-24)
- Traffic Light API: #147 #176 #180
- Allow fleet adapters to adjust the maximum delay: #148
- Full Control Fleet Adapters respond to emergency alarm topic: #162
- Migrating to ROS2 Foxy: #133
- Contributors: Chen Bainian, Grey, Kevin_Skywalker, Marco A. Gutiérrez, Rushyendra Maganty, Yadu
1.0.2 (2020-07-27)
- Always respond to negotiations: #138
1.0.1 (2020-07-20)
- Interrupt dangling negotiation planning efforts to reduce memory usage: #130
- Trim the amount of system memory that is committed to a fleet adapter after each task: #130
1.0.0 (2020-06-23)
- Provides
rmf_fleet_adapter
library- The
rmf_fleet_adapter::agv
component can be used to develop a custom "Full Control" fleet adapter -
rmf_fleet_adapter/StandardNames.hpp
specifies topic names that are used for RMF integration
- The
- Provides a prototype
read_only
fleet adapter implementation- This will be deprecated in the future in favor of a C++ API
- To use this fleet adapter, you must implement a "read-only fleet driver" to talk to the fleet adapter using
rmf_fleet_msgs
- Provides a deprecated
full_control
fleet adapter implementation- This is made to be backwards compatible with "full-control fleet drivers" that were developed in the early stages of RMF
- New users should prefer to implement their own fleet adapter using the
rmf_fleet_adapter::agv
API
- Uses rxcpp to make the fleet adapters reactive and multi-threaded
- Has a known memory leak issue which will be resolved in a later release
- Contributors: Aaron Chong, Charayaphan Nakorn Boon Han, Marco A. Gutiérrez, Grey, Yadu, Yadunund, koonpeng, methylDragon
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/robot_state_aggregator.composition.launch.xml
-
- robot_prefix [default: ]
- fleet_name
- use_sim_time [default: false]
- subns [default: yin]
- buddy_subns [default: yang]
- active_node [default: true]
- verbose [default: true]
- failover_mode [default: false]
- launch/robot_state_aggregator.launch.xml
-
- failover_mode [default: false]
- robot_prefix [default: ]
- fleet_name
- use_sim_time [default: false]
- verbose [default: false]
- launch/fleet_adapter.launch.xml
-
- use_sim_time [default: false]
- control_type
- fleet_name
- nav_graph_file [default: ]
- linear_velocity
- angular_velocity
- linear_acceleration
- angular_acceleration
- footprint_radius
- vicinity_radius
- delay_threshold [default: 10.0]
- disable_delay_threshold [default: false]
- retry_wait [default: 10.0]
- discovery_timeout [default: 10.0]
- reversible [default: true]
- output [default: screen]
- perform_loop [default: false]
- perform_deliveries [default: false]
- perform_cleaning [default: false]
- finishing_request [default: nothing]
- battery_voltage
- battery_capacity
- battery_charging_current
- mass
- inertia
- friction_coefficient
- ambient_power_drain
- tool_power_drain
- drain_battery [default: false]
- recharge_threshold [default: 0.2]
- recharge_soc [default: 1.0]
- experimental_lift_watchdog_service [default: ]
- enable_responsive_wait [default: true]
- server_uri [default: ]
Messages
Services
Plugins
Recent questions tagged rmf_fleet_adapter at answers.ros.org
![]() |
rmf_fleet_adapter package from rmf_ros2 repormf_fleet_adapter rmf_fleet_adapter_python rmf_task_ros2 rmf_traffic_ros2 |
|
Package Summary
Tags | No category tags. |
Version | 1.4.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/open-rmf/rmf_ros2.git |
VCS Type | git |
VCS Version | galactic |
Last Updated | 2021-09-02 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Grey
- Aaron
- Marco A. Gutiérrez
Authors
rmf_fleet_adapter package
This package contains the various fleet adapter nodes for different levels of control.
Using specific messages from rmf_fleet_msgs
, it communicates with proprietary fleet drivers and managers through ROS 2.
Quality Declaration
This package claims to be in the Quality Level 4 category. See the Quality Declaration for more details.
Changelog for package rmf_fleet_adapter
1.4.0 (2021-09-01)
- Add read_only_blockade adapter: #110
- Accommodate finishing tasks: #108
- Check if lane request's fleet_name is equal to the fleet's fleet_name: #95
- Find nearest waypoint among starts: #98
1.3.0 (2021-06-07)
- Add API for opening and closing lanes: #15
- Added
open_lanes
andclose_lanes
CLI tools for issuing requests
- Added
- Allow Traffic Light APIs to update the location of a robot while it is idle: #270
- Allow TrafficLight and EasyTrafficLight API to update battery level: #263
- Migrating to a task dispatcher framework: #217
- The
rmf_fleet_adapter::agv
component interacts with a dispatcher node over topics withrmf_task
prefix as specified inrmf_fleet_adapter/StandardNames.hpp
- Support for executing tasks at specified timepoints
- Support for
Loop
,Delivery
,Clean
andChargeBattery
tasks
- The
- Introduce ResponsiveWait: #308
- The new ResponsiveWait task phase can be used to have idle/waiting robots respond to schedule conflicts
- Idle robots (robots that do not have an assigned task) will automatically enter ResponsiveWait mode
1.2.0 (2021-01-05)
- Automatically publish fleet states from the fleet adapter API: #232
- Easy Traffic Light API: #226
- Gridlock-proof Traffic Light Implementation: #226
1.1.0 (2020-09-24)
- Traffic Light API: #147 #176 #180
- Allow fleet adapters to adjust the maximum delay: #148
- Full Control Fleet Adapters respond to emergency alarm topic: #162
- Migrating to ROS2 Foxy: #133
- Contributors: Chen Bainian, Grey, Kevin_Skywalker, Marco A. Gutiérrez, Rushyendra Maganty, Yadu
1.0.2 (2020-07-27)
- Always respond to negotiations: #138
1.0.1 (2020-07-20)
- Interrupt dangling negotiation planning efforts to reduce memory usage: #130
- Trim the amount of system memory that is committed to a fleet adapter after each task: #130
1.0.0 (2020-06-23)
- Provides
rmf_fleet_adapter
library- The
rmf_fleet_adapter::agv
component can be used to develop a custom "Full Control" fleet adapter -
rmf_fleet_adapter/StandardNames.hpp
specifies topic names that are used for RMF integration
- The
- Provides a prototype
read_only
fleet adapter implementation- This will be deprecated in the future in favor of a C++ API
- To use this fleet adapter, you must implement a "read-only fleet driver" to talk to the fleet adapter using
rmf_fleet_msgs
- Provides a deprecated
full_control
fleet adapter implementation- This is made to be backwards compatible with "full-control fleet drivers" that were developed in the early stages of RMF
- New users should prefer to implement their own fleet adapter using the
rmf_fleet_adapter::agv
API
- Uses rxcpp to make the fleet adapters reactive and multi-threaded
- Has a known memory leak issue which will be resolved in a later release
- Contributors: Aaron Chong, Charayaphan Nakorn Boon Han, Marco A. Gutiérrez, Grey, Yadu, Yadunund, koonpeng, methylDragon
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/robot_state_aggregator.composition.launch.xml
-
- robot_prefix [default: ]
- fleet_name
- use_sim_time [default: false]
- subns [default: yin]
- buddy_subns [default: yang]
- active_node [default: true]
- verbose [default: true]
- failover_mode [default: false]
- launch/robot_state_aggregator.launch.xml
-
- failover_mode [default: false]
- robot_prefix [default: ]
- fleet_name
- use_sim_time [default: false]
- verbose [default: false]
- launch/fleet_adapter.launch.xml
-
- use_sim_time [default: false]
- control_type
- fleet_name
- nav_graph_file [default: ]
- linear_velocity
- angular_velocity
- linear_acceleration
- angular_acceleration
- footprint_radius
- vicinity_radius
- delay_threshold [default: 10.0]
- disable_delay_threshold [default: false]
- retry_wait [default: 10.0]
- discovery_timeout [default: 10.0]
- reversible [default: true]
- output [default: screen]
- perform_loop [default: false]
- perform_deliveries [default: false]
- perform_cleaning [default: false]
- finishing_request [default: nothing]
- battery_voltage
- battery_capacity
- battery_charging_current
- mass
- inertia
- friction_coefficient
- ambient_power_drain
- tool_power_drain
- drain_battery [default: false]
- recharge_threshold [default: 0.2]
- recharge_soc [default: 1.0]
- experimental_lift_watchdog_service [default: ]