[Feature request]: Fire alarm separation for different fleets

Before proceeding, is there an existing issue or discussion for this?

• I have done a search for similar issues and discussions.

Description

Our current deployment uses one RMF instance for two different buildings and in the event when a fire alarm is triggered for one building, ALL robots will go into parking.

This does not make sense for robots in the other building.

The current msg type for the emergency signal is a boolean message, which does not indicate which building or fleet it is meant for.

But since there is no concept of buildings in RMF, I think a fleet-based approach would be best.

Implementation Considerations

The new emergency message will be

EmergencySignal.msg

string[] fleet_names
bool is_emergency

The fleet_names array allow users to specifc which fleet should react to this signal. And in the scenario where this array is empty, ALL robots will react to the signal.

Alternatives

No response

Additional information

No response

Start by locating EmergencySignal.msg and the current boolean emergency-signal handling. Define how fleet_names selects which robots react, including the empty-array case where all robots respond. Done means a fire alarm for one fleet no longer sends other fleets to parking, with coverage for both targeted and broadcast signals.