1. Allow task_request fleet_name to be a string or string array

2. Reject array in fleet_name for robot specific tasks

Author: lttey

rmf_api_msgs/schemas/estimate_robot_task_request.json

@@ -22,7 +22,13 @@
       "description": "If not provided, end state of robot's direct task requests will be used by planner.",
       "$ref": "#/$defs/state"
     },
-    "request": {"$ref": "task_request.json"}
+    "request": {
+      "description": "An estimate robot task request always targets exactly one robot, so its nested fleet_name (if given) must be a single string, not an array.",
+      "allOf": [
+        { "$ref": "task_request.json" },
+        { "properties": { "fleet_name": { "type": "string" } } }
+      ]
+    }
   },
   "required": ["type", "robot", "fleet", "request"],
   "$defs": {

rmf_api_msgs/schemas/robot_task_request.json

@@ -18,7 +18,13 @@
       "description": "The fleet the robot belongs to",
       "type": "string"
     },
-    "request": { "$ref": "task_request.json" }
+    "request": {
+      "description": "A robot task request always targets exactly one robot, so its nested fleet_name (if given) must be a single string, not an array.",
+      "allOf": [
+        { "$ref": "task_request.json" },
+        { "properties": { "fleet_name": { "type": "string" } } }
+      ]
+    }
   },
   "required": ["type", "robot", "fleet", "request"]
 }

rmf_api_msgs/schemas/task_request.json

@@ -31,8 +31,11 @@
       "type": "string"
     },
     "fleet_name": {
-      "description": "(Optional) The name of the fleet that should perform this task. If specified, other fleets will not bid for this task.",
-      "type": "string"
+      "description": "(Optional) The name of the fleet, or an array of fleet names, allowed to perform this task. If specified, only the named fleet(s) will bid for this task.",
+      "oneOf": [
+        { "type": "string" },
+        { "type": "array", "items": { "type": "string" } }
+      ]
     }
   },
   "required": ["category", "description"]