RequestAssistance.action

# The goal to send when requesting for help

# A header indicating the time of the assistance request
time stamp

# The component that created the request
string component

# The current actionlib_msgs/GoalStatus status of the component
uint8 component_status

# The priority of the request. Lower is higher. This does not guarantee that
# requests with a higher priority will be addressed immediately. That decision
# is up to the arbitrator based on other information in this goal message
# TODO: Perhaps this breakdown of priority classes should be driven by the
# literature
uint8 PRIORITY_CRITICAL=10
uint8 PRIORITY_IMPORTANT=20
uint8 PRIORITY_NORMAL=30
uint8 PRIORITY_INFO=40
uint8 priority

# The context of the status. This is a pickled byte array
string context
---
# The result after fulfilling the request

# The behavior after the request has been fulfilled. The implementation of these
# resumption behaviours is component dependent. The definitions of these hints
# are:
# - RESUME_NONE: the intervention has accomplished the goal that you set out to
#                   accomplish: congratulations, you need to do nothing. Or, the
#                   intervention cannot help you: stop, and await more help.
# - RESUME_CONTINUE: continue executing from the point of the error. something
#                       has intervened to rectify the problem.
# - RESUME_RETRY: retry the everything up until the point of the error. the
#                   blocker has been removed, but the environment might have
#                   reset itself, and therefore you need to retry this task
# - RESUME_NEXT: skip the component that errored out and move on to the next one
# - RESUME_PREVIOUS: rerun the component that was run before the one that
#                   errored out
uint8 RESUME_NONE=0
uint8 RESUME_CONTINUE=1
uint8 RESUME_RETRY=2
uint8 RESUME_NEXT=3
uint8 RESUME_PREVIOUS=4
uint8 resume_hint

# The context of the resumption. This is a pickled byte array.
# The byte array provides fine-grained ability to control task resumption by
# setting different resume_hint's at different points in the task. The top-level
# resume_hint must match the resume_hint in the previous field
string context

# Statistics on the assistance
Statistics stats
---
# The feedback while the request is being fulfilled

# The name of the strategy that is currently fulfilling the request
string strategy