Adding a layer of business logic onto ROS bots

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I think this project is somewhat related to that:

• https://osrf.github.io/ros2multirobot...

Welcome! This is a book about multi-robot systems. Why? Because it's the future!

Robots are becoming more affordable, more capable, and more useful in many "real life" scenarios. As a result, we are seeing more and more robots that need to share spaces and work together to accomplish tasks. In this book, we will introduce the Robot Operating System 2 (ROS 2) as well as the Robot Middleware Framework (RMF), which is built on ROS 2 and tries to simplify the creation and operation of complex multi-robot systems. (...)

Robotics Middleware Framework (RMF)

For a moment, think of any large building. It could be a shopping mall, housing complex, university building, workplace, airport, hospital, hotel, and so on. Are items delivered within the building? Is the building floor cleaned regularly? For most buildings, the answer to both questions is "yes."

Now, let's think of what happens when robots start to perform those tasks. In today's robot marketplace, you can purchase excellent delivery robots, as well as excellent floor-cleaning robots. However, what if the floor is being cleaned at the same time that items are being delivered in the building? This situation is trivial when humans are performing the cleaning and delivery tasks: a quick glance between a delivery person pushing a cart and a custodian cleaning the floor is all it takes to quickly reach a compromise. One or both people will find a way to slightly alter the timing of their task to allow both tasks to be completed.

Of course, it is aimed at multiple mobile robot systems, but it is a similar additional layer over ROS