Devel #20
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Devel #20
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…h an array works (WIP)
…k the data all together
…ssion related fleet and robot actions
…ig, and add new exception and middleware classes
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Adapts the waypoint mission processing logic to utilize the custom `iroc_mission_handler::Waypoint` message type. This change ensures compatibility with the new waypoint message structure, allowing for proper handling of waypoint data within the IROC bridge.
Updates the mission handler message type to use the generic MissionAction. This change simplifies the waypoint mission callback by utilizing the general MissionGoal message, which aligns with the broader functionality of the mission handler and reduces redundancy. It also removes unused message definitions, streamlining the codebase.
Renames the `robots_results` variable to `robot_results` for consistency and clarity. This change affects the mission done callback, feedback callback, and result to JSON conversion functions.
Template design
Adds example mission JSON files Adds example JSON files to define missions for one and two drones. Also adds a mission showcasing heading control.
Was not handling properly when there is not an active mission.
Adds more detailed mission feedback to ROS debug logs,
improving monitoring and debugging capabilities.
Fixes an issue where subtask parameters were accessed using
the incorrect key ("params" instead of "parameters") in the
waypoint mission callback.
This is a small fix, given that this subtask structure is out-dated, is not critical. But making the change to make sure nothing crashes. The fix is already solved in the new version of mission handler.
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Update of main with devel changes