Everything known about one running capability instance, gathered from its /capabilities (easyfleet_interfaces/CapabilityDescription) and /capabilities_status (easyfleet_interfaces/CapabilityStatus) messages. More...

#include <capability_info.hpp>

Public Attributes
std::string	robot
	Robot identity this capability was announced under (e.g. "robot1").
std::string	capability
	Capability type (e.g. "navigation").
std::string	action_name
	Fully-qualified action name (e.g. "/robot1/navigation").
std::string	description_json_raw
	Raw JSON text of the capability description, as published.
nlohmann::json	description_json
	description_json_raw, parsed – empty if parsing failed.
bool	description_json_valid {false}
	Whether description_json_raw parsed successfully as JSON.
bool	active {false}
	Whether this capability was announced on /capabilities at all, at discovery time.
bool	busy {false}
	True while the capability has a goal currently executing (from the latest CapabilityStatus heartbeat seen).

Detailed Description

Everything known about one running capability instance, gathered from its /capabilities (easyfleet_interfaces/CapabilityDescription) and /capabilities_status (easyfleet_interfaces/CapabilityStatus) messages.

action_name is the unique identity: two robots can both offer a capability named "navigation", but each has its own action_name (e.g. "/robot1/navigation" vs "/robot2/navigation").

Member Data Documentation

◆ busy

bool busy {false}

True while the capability has a goal currently executing (from the latest CapabilityStatus heartbeat seen).

Meaningless if active is false: a capability that isn't publishing heartbeats at all can't be "busy" or "idle", it's just gone.

The documentation for this struct was generated from the following file:

easyfleet_mission_manager/include/easyfleet_mission_manager/capability_info.hpp

Public Attributes

Detailed Description

Member Data Documentation

◆ busy