iroc_fleet_manager

ROS 2 coordination layer between iroc_bridge (HTTP gateway) and per-robot iroc_mission_handler nodes. Handles fleet-wide mission staging, distribution, monitoring, and environment validation.

Package Purpose

iroc_fleet_manager is responsible for:

Validating and staging missions on all robots (synchronous, all-or-nothing)
Distributing missions to robots via action clients
Monitoring per-robot progress and aggregating feedback into a fleet-wide view
Managing fleet state transitions (IDLE, STAGED, EXECUTING, PAUSED)
Querying and validating environment data (world origin, safety borders, obstacles) across the fleet

System Position

Web Client / UI
      │ HTTP REST / WebSocket
[iroc_bridge]
      │ ROS Services + Actions
[iroc_fleet_manager]   ← this node
      │ ROS Actions + Services (per robot)
[iroc_mission_handler] × N
      │
MRS UAV Core / Hardware

Fleet Mission State Machine

Fleet state is tracked by a single std::atomic<fleet_mission_state_t>. The enum is defined in include/iroc_fleet_manager/enums/fleet_mission_state.h. Every transition is logged as [FleetMissionState] OLD -> NEW.

States

State	Description
`IDLE`	No mission loaded or executing
`STAGED`	Mission uploaded and validated on all robots, awaiting start command
`EXECUTING`	Mission active; `timerMain` monitors per-robot completion
`PAUSED`	Mission suspended; `timerMain` is gated, feedback still published

Transitions

              POST /mission (upload)
  IDLE ─────────────────────────────► STAGED
   ▲                                     │
   │                                     │ POST /mission/start (initial)
   │                                     ▼
   │                               EXECUTING ◄──────────────────┐
   │                              /         \                    │
   │    cancel / all robots done /     pause \                   │ resume
   └────────────────────────────(IDLE)      PAUSED ─────────────┘
                                               │
                              POST /mission/stop (async cancels fired,
                              timerMain detects completion → IDLE)

Revert rules:

If ALL robots fail a pause call, the fleet state reverts from PAUSED to EXECUTING.
If ALL robots fail a resume call, the fleet state reverts from EXECUTING to PAUSED.

ROS Interfaces

Action Server

Name: iroc_fleet_manager Type: iroc_fleet_manager/action/ExecuteMission

Goal Fields

Field	Type	Description
`type`	`string`	Planner name, e.g. `"WaypointPlanner"`. Empty string uses the pre-staged mission.
`details`	`string`	JSON mission details (planner-specific payload)
`uuid`	`string`	Client-side identifier for this mission

Feedback

Published at feedback_timer_rate Hz during both EXECUTING and PAUSED states.

WaypointMissionInfo info
  string state          # one of: "trajectories_loaded", "mission_executing",
                        #         "mission_paused", "mission_aborted",
                        #         "mission_error", "mission_invalid"
  string message        # human-readable summary
  float64 progress      # fleet-wide average progress, 0.0–1.0
  MissionFeedback[] robot_feedbacks  # per-robot progress breakdown

Result

bool success
string message
MissionResult[] robot_results   # per-robot: name, success, message

Service Servers

All service servers are advertised under the node's private namespace (~/).

Topic	Type	Description
`~/upload_fleet_mission_svc_out`	`UploadFleetMissionSrv`	Upload and validate mission on all robots (synchronous, all-or-nothing). Transitions `IDLE` → `STAGED`.
`~/change_fleet_mission_state_svc_out`	`ChangeFleetMissionStateSrv`	`TYPE_START` / `TYPE_PAUSE` / `TYPE_STOP` for the whole fleet.
`~/change_robot_mission_state_svc_out`	`ChangeRobotMissionStateSrv`	`TYPE_START` / `TYPE_PAUSE` / `TYPE_STOP` for one robot. Does not affect fleet state.
`~/get_mission_data_svc_out`	`GetMissionPointsSrv`	Returns current mission waypoints. Available only in `EXECUTING` or `PAUSED`.
`~/get_world_origin_svc_out`	`GetWorldOriginSrv`	Validates all robots share the same world origin; returns it.
`~/get_safety_border_svc_out`	`GetSafetyBorderSrv`	Validates and returns safety border across fleet.
`~/get_obstacles_svc_out`	`GetObstaclesSrv`	Validates and returns obstacles across fleet.

Service Clients (per robot)

Clients are connected on demand during sendRobotGoals.

Topic Pattern	Type	Purpose
`/{robot}/upload_mission_svc_in`	`UploadMissionSrv`	Stage mission on robot (trajectory generation + safety check)
`/{robot}/unload_mission_svc_in`	`UnloadMissionSrv`	Roll back staged mission on upload failure
`/{robot}/mission_activation_svc_in`	`std_srvs/Trigger`	Activate or resume robot mission
`/{robot}/mission_pausing_svc_in`	`std_srvs/Trigger`	Pause robot mission

Action Clients (per robot)

Connected on demand.

Topic Pattern	Type	Purpose
`/{robot}/action_client_mission_in`	`iroc_mission_handler/Mission`	Send mission goal to the robot's mission handler

Subscriptions (per robot)

Persistent subscriptions created for each robot at startup.

Topic Suffix	Type
`/{robot}/general_robot_info_in`	`mrs_msgs/GeneralRobotInfo`
`/{robot}/state_estimation_info_in`	`mrs_msgs/StateEstimationInfo`
`/{robot}/control_info_in`	`mrs_msgs/ControlInfo`
`/{robot}/collision_avoidance_info_in`	`mrs_msgs/CollisionAvoidanceInfo`
`/{robot}/uav_info_in`	`mrs_msgs/UavInfo`
`/{robot}/system_health_info_in`	`mrs_msgs/SystemHealthInfo`
`/{robot}/safety_area_info_in`	`mrs_msgs/SafetyAreaManagerDiagnostics`

Mission Upload and Execution Flow

POST /mission
  └─► uploadFleetMissionCallback()
        ├─ reject if EXECUTING or PAUSED (409)
        ├─ reject if already STAGED (409)
        ├─ planner->createGoal()          # validate JSON + generate per-robot MissionGoal list
        ├─ uploadRobotMissions()          # UploadMissionSrv to each robot (blocking)
        │     ├─ any failure → rollbackUpload() → return error
        │     └─ all success → commit staged_mission_robots_
        └─ fleet_state_ = STAGED

POST /mission/start  (initial)
  └─► bridge sends ExecuteMission action goal with empty type
  └─► handle_goal()    # reject if EXECUTING/PAUSED; reject if STAGED not set and type empty
  └─► handle_accepted()
        ├─ fleet_state_ == STAGED → use staged_mission_robots_ (fast path)
        ├─ sendRobotGoals(staged_robots, auto_activate=true)
        └─ fleet_state_ = EXECUTING

POST /mission/start  (resume from PAUSED)
  └─► changeFleetMissionStateCallback(TYPE_START)
        ├─ fleet_state_ = EXECUTING  (optimistic)
        ├─ sc_robot_activation per robot
        └─ if all fail → fleet_state_ = PAUSED  (revert)

POST /mission/pause
  └─► changeFleetMissionStateCallback(TYPE_PAUSE)
        ├─ fleet_state_ = PAUSED  (optimistic, gates timerMain immediately)
        ├─ sc_robot_pausing per robot
        └─ if all fail → fleet_state_ = EXECUTING  (revert)

POST /mission/stop
  └─► changeFleetMissionStateCallback(TYPE_STOP)
        └─ cancelRobotClients() (async cancel sent to each robot)
            timerMain detects robots done → fleet_state_ = IDLE

Planner Plugin System

Planners are loaded at startup via pluginlib. Each planner implements the following interface:

void initialize(node, name, namespace, common_handlers);
void activate();
std::tuple<result_t, std::vector<MissionGoal>> createGoal(type, details_json, uuid);

CommonHandlers_t gives planners read-only access to the latest diagnostics for all robots (position, health, safety area, etc.).

Built-in Planners

Name	Input	Output
`WaypointPlanner`	Per-robot waypoint list with `frame_id`, `height_id`, `terminal_action`, optional subtasks	`MissionGoal` per robot with waypoints passed through verbatim
`CoveragePlanner`	Robot name list + polygon search area + flight height	Energy-optimised lawnmower paths via the EnergyAwareMCPP library

Adding a Custom Planner

Implement iroc_fleet_manager::planners::Planner.
Export the class with PLUGINLIB_EXPORT_CLASS.
Register the planner name and plugin address in config/config.yaml under fleet_manager.planners.

Configuration

config/config.yaml:

fleet_manager:
  main_timer_rate: 100.0      # [Hz] timerMain and timerUpdateCommonHandlers polling rate
  feedback_timer_rate: 100.0  # [Hz] timerFeedback broadcast rate
  no_message_timeout: 5.0     # [s] subscriber no-message warning threshold

  planners:
    planner_names: ["WaypointPlanner", "CoveragePlanner"]

    WaypointPlanner:
      address: "iroc_fleet_manager/WaypointPlanner"
      name_space: "waypoint_planner"

    CoveragePlanner:
      address: "iroc_fleet_manager/CoveragePlanner"
      name_space: "coverage_planner"

Parameter	Type	Description
`main_timer_rate`	`double` (Hz)	Polling rate for `timerMain` (completion detection) and `timerUpdateCommonHandlers` (diagnostics refresh)
`feedback_timer_rate`	`double` (Hz)	Rate at which `timerFeedback` publishes action feedback to the bridge
`no_message_timeout`	`double` (s)	Duration after which a subscriber with no received messages emits a warning
`planners.planner_names`	`string[]`	List of planner names to load at startup

Name		Name	Last commit message	Last commit date
Latest commit History 140 Commits
action		action
config		config
include/iroc_fleet_manager		include/iroc_fleet_manager
launch		launch
lib/EnergyAwareMCPP		lib/EnergyAwareMCPP
msg		msg
src		src
srv		srv
.clang-format		.clang-format
.gitignore		.gitignore
CMakeLists.txt		CMakeLists.txt
README.md		README.md
package.xml		package.xml
plugins.xml		plugins.xml

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iroc_fleet_manager

Table of Contents

Package Purpose

System Position

Fleet Mission State Machine

States

Transitions

ROS Interfaces

Action Server

Goal Fields

Feedback

Result

Service Servers

Service Clients (per robot)

Action Clients (per robot)

Subscriptions (per robot)

Mission Upload and Execution Flow

Planner Plugin System

Built-in Planners

Adding a Custom Planner

Configuration

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iroc_fleet_manager

Table of Contents

Package Purpose

System Position

Fleet Mission State Machine

States

Transitions

ROS Interfaces

Action Server

Goal Fields

Feedback

Result

Service Servers

Service Clients (per robot)

Action Clients (per robot)

Subscriptions (per robot)

Mission Upload and Execution Flow

Planner Plugin System

Built-in Planners

Adding a Custom Planner

Configuration

About

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