p2p delivery service를 위한 메시지 작성

[hughie]

• 로봇에 전달할 Order 메시지 작성
• Action의 feedback을 위한 P2P배달 상태 메시지 작성
• 서비스 블록과 Caller용 webapp 통신에 사용할 API 작성

[jihoonl]

Rapp info

name :  p2p_delivery
description: point to point delivery with TTS?

public_interface

publishers:
name : robot_pose
            type: PoseStamped
name :  robot_status
           type: RobotStatus
subscrbers:
map
map_metadata
location_list  # Waypoint
global_marker_list
action_servers:
name : delivery_order
            type: simple_delivey_msgs/RobotP2PDeliveryOrderAction
action_clients: []

P2pDeliveryOrderaction

 Goal
string order_id
string from
string to
string message
---
# Result
string order_id
bool success
string message
---
# Feedback
P2PDeliveryStatus delivery_status

P2PDeliveryStatus

int8 IDLE = 10
int8 GO_TO_PICKUP = 20
int8 ARRIVAL_AT_PICKUP = 30
int8 WAITING_FOR_PICKUP_CONFIRM = 40
int8 GO_TO_RECEIVER = 51
int8 ARRIVAL_AT_RECEIVER = 52
int8 WAITING_FOR_RECEIVER_CONFIRM = 53
int8 COMPLETE_DELIVERY = 54
int8 COMPLETE_ALL_DELIVERY = 60
int8 RETURN_TO_DOCK = 70
int8 COMPLETE_RETURN = 80
int8 ERROR = -10

string order_id
string target_goal
int8 status