Feature/Support Idle Robot Preferred in Task Planning

[kjchee]

New feature implementation

Implemented feature

This PR is to support the new feature proposed at PR in rmf_task open-rmf/rmf_task#129

Implementation description

A new parameter in fleet_config.yaml (task_assignment_strategy) is read and passed to EasyFullControl and to FleetUpdateHandle and finally to TaskPlanner.

Also, for context, there are new functions added in rmf_task::State in rmf_task:

bool is_idle() const;
State& idle(bool is_idle);

purpose is to reflect whether the robot is in idle state, and so it can be set in TaskManager.cpp TaskManager::expected_finish_state(). Then this idle state will be stored in initial_states and passed to TaskPlanner via FleetUpdateHandle.cpp.

GenAI Use

We follow OSRA's policy on GenAI tools

• I used a GenAI tool in this PR.
• I did not use GenAI

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