Start implementation of TaskClient and TaskServer #10
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Mar 7, 2022
…planner_on_the_server WMO-56511 Nav2: Run smac planner on the server
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…global_inversion AUTO-610 [MPPI] enforce global path inversions
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* Revert "Fix Ci from key signing (ros-navigation#5220)" (ros-navigation#5237) * Revert "Fix Ci from key signing (ros-navigation#5220)" This reverts the changes to the Dockerfile done in 1345c22. Signed-off-by: Nils-Christian Iseke <nilsmailiseke@gmail.com> * Update Cache Version Signed-off-by: Nils-Christian Iseke <nilsmailiseke@gmail.com> --------- Signed-off-by: Nils-Christian Iseke <nilsmailiseke@gmail.com> * enable_groot_monitoring_ false (ros-navigation#5246) Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * Updating readme table for kilted release (ros-navigation#5249) * updating readme table for kilted release Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Updating table lint Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Add min_distance_to_obstacle parameter to RPP (ros-navigation#4543) * min_distance_to_obstacle Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * suggestion to time base and combine Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * typo Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * use min_approach_linear_velocity Signed-off-by: Guillaume Doisy <guillaume@dexory.com> --------- Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * Fixing builds for message filters API change while retaining Jazzy, Kilted, and Rolling support (ros-navigation#5251) * Update amcl_node.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update amcl_node.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Working for Kilted, Jazzy Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update amcl_node.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update amcl_node.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update amcl_node.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Change max_cost default to 254 (ros-navigation#5256) Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Route server corner smoothing (ros-navigation#5226) * added edge length method Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * Added corner arc class Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * replaced double vectors with Coordinates, added methods to return start and end coordinates Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * using Coordinates, fixed direction of tangents Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added corner arc in header, added logger in protected variable Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * first pass of corner smoothing algorithm Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * reassigning next edge to have a different start, if a corner occurs before it Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * using unique pointer instead of raw pointers for new edges and nodes Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added smoothing parameter Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * made angle of interpolation a parameter Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * const for return methods, added flag for smoothing corners Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * moved getEdgeLength() into the Directional Edge struct Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * using float instead of double Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * smoothing radius is float, couple methods moved to protected Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * removed signed_angle_ as a member variable Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * removed unnecessary member variables Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * removed angle of interpolation and inferring it from path density and radius instead Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * consolidated corner arc into one header function Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * readded newline Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * changed corner arc to corner smoothing Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * replaced the use of edges with coordinates to generate smoothing arc, removed storage of nodes and edges Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * linting Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * fixing cpplint Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * linting for headers Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * cpplinting Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * Update nav2_route/src/path_converter.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_route/src/path_converter.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_route/src/path_converter.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_route/src/path_converter.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_route/include/nav2_route/corner_smoothing.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixed divide by zeros and accessing empty route.edges Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * uncrustify linting Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * cpp linting Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * path converter linting Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * changed all doubles to floats Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added check for edges that are colinear to avoid divide by 0, fixed final edge interpolation Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * linting Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * Update nav2_route/include/nav2_route/corner_smoothing.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * added doxygen for corner arc class Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added warning message if corner can't be smoothed Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added smooth_corners to the nav2 params file Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added smoothing flag and radius parameter to README.md' Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * typo in README Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added testing for corner smoothing Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * Update nav2_route/include/nav2_route/corner_smoothing.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Conserve curvature with LIMIT action (ros-navigation#5255) * Conserve curvature with LIMIT action Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix format Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix test Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Parametrizing obstacle layer tf filter tolerance (ros-navigation#5261) Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Add namespace support for rviz costmap cost tool (ros-navigation#5268) Signed-off-by: Maurice-1235 <mauricepurnawan@gmail.com> * Fix/smac planner orientation goals (ros-navigation#5235) * cherry pick Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * cherry pick 6a74ba6 Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * cherrpy pick Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * include x11 forwarding Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * kind of working version Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * cleanup Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * formatting Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * minor format change Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * change naming Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * minor changes Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * working with new changes Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * Revert "Fix Ci from key signing (ros-navigation#5220)" (ros-navigation#5237) * Revert "Fix Ci from key signing (ros-navigation#5220)" This reverts the changes to the Dockerfile done in 1345c22. Signed-off-by: Nils-Christian Iseke <nilsmailiseke@gmail.com> * Update Cache Version Signed-off-by: Nils-Christian Iseke <nilsmailiseke@gmail.com> --------- Signed-off-by: Nils-Christian Iseke <nilsmailiseke@gmail.com> Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * Revert back Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * enable_groot_monitoring_ false (ros-navigation#5246) Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * Updating readme table for kilted release (ros-navigation#5249) * updating readme table for kilted release Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Updating table lint Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * Add min_distance_to_obstacle parameter to RPP (ros-navigation#4543) * min_distance_to_obstacle Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * suggestion to time base and combine Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * typo Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * use min_approach_linear_velocity Signed-off-by: Guillaume Doisy <guillaume@dexory.com> --------- Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * Fixing builds for message filters API change while retaining Jazzy, Kilted, and Rolling support (ros-navigation#5251) * Update amcl_node.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update amcl_node.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Working for Kilted, Jazzy Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update amcl_node.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update amcl_node.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update amcl_node.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * Change max_cost default to 254 (ros-navigation#5256) Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * linter Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * remove const Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * pass const pointer by value Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * pass const pointer by value Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * remove unused param Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> --------- Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> Signed-off-by: Nils-Christian Iseke <nilsmailiseke@gmail.com> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Nils-Christian Iseke <48475933+Nils-ChristianIseke@users.noreply.github.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix backport compiler warning (ros-navigation#5277) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fix ament mypy (ros-navigation#5280) * Configured nav2_loopback_sim to be compliant with mypy. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Configured nav2_simple_commander to be compliant with mypy. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Configured nav2_system_tests to be compliant with mypy. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Publish zero velocitiy in case of goal failure (ros-navigation#5279) Signed-off-by: haider8645 <haider_lodhi@hotmail.com> * Update PULL_REQUEST_TEMPLATE.md Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Use fixed thresholds for Trinary yaml (ros-navigation#5278) Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * Add missing include of algorithm in differential_motion_model.cpp (ros-navigation#5293) Signed-off-by: Silvio Traversaro <silvio@traversaro.it> * Remove unused unistd.h header from route_tool.cpp (ros-navigation#5292) Signed-off-by: Silvio Traversaro <silvio@traversaro.it> * Fix compilation of nav2_smac_planner on Windows (ros-navigation#5291) Signed-off-by: Silvio <silvio.traversaro@iit.it> * Large Nav2 Node, Utils, and Interface Refactor (ros-navigation#5288) * initial unorganized prototype Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * break out files and add doxygen Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding refactor for nav2_ros_common and new ROS interface factories Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing CI - not sure how that got through merge conflicts Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Lifecycle publisher a missing test Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * system tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * default Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * activating publishers Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * temp disable allow param qos overrides Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * API update for new constructor option Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Supporting Jazzy and abstracting util Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Review round 1 Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding Nav2 Publisher and Subscriber objects to later build upon Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding additional ::SharedPtr for readability Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix bug Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing Jazzy support Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * missed one last spot Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding migration instructions Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * more context Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding migration context Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * precommit Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * adding missing dep Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Updating system tess Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * more Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding logging for matched events and dropped messages into pub/sub of new nav2_ros_common package. Also adding QoS overrides default ON (ros-navigation#5302) * Adding logging for matched events and dropped messages Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * toggle on Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * apply for smac 2D Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update interface_factories.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Add LaunchConfigAsBool (Fixes ros-navigation#5233) (ros-navigation#5301) * Add LaunchConfigAsBool (Fixes ros-navigation#5233) Signed-off-by: nishalangovender <nishalan.govender@gmail.com> * Fix Linting Signed-off-by: nishalangovender <nishalan.govender@gmail.com> * Fix ament_mypy and pre-commit Signed-off-by: nishalangovender <nishalan.govender@gmail.com> * Added Type Annotations Signed-off-by: Nishalan Govender <nishalan.govender@gmail.com> * mypy ignore Signed-off-by: Nishalan Govender <nishalan.govender@gmail.com> * launch.Substitution Signed-off-by: Nishalan Govender <nishalan.govender@gmail.com> * Update All Bools in nav2_bringup Signed-off-by: Nishalan Govender <nishalan.govender@gmail.com> --------- Signed-off-by: nishalangovender <nishalan.govender@gmail.com> Signed-off-by: Nishalan Govender <nishalan.govender@gmail.com> * Create claude.yml Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update claude.yml Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update claude.yml Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update claude.yml for authorized users Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update claude.yml Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update claude.yml Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding clear costmap around pose service option (ros-navigation#5309) * Adding clear costmap around pose impl Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_msgs/srv/ClearCostmapAroundPose.srv Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding APIs for simple commander Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * linting Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * adding import Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fix compiler errors in nav2_map_server * Fix compiler errors in nav2_costmap_2d * Add support for enable_lifecycle_services parameter in LifecycleNode (ros-navigation#5307) Expose the enable_communication_interface parameter from rclcpp_lifecycle::LifecycleNode through nav2's LifecycleNode wrapper. This allows users to disable lifecycle communication interfaces when manually managing node lifecycle transitions. The parameter can be set via NodeOptions parameter overrides: ```cpp rclcpp::NodeOptions options; options.parameter_overrides({{"enable_lifecycle_services", false}}); ``` Fixes ros-navigation#5305 Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com> --------- Signed-off-by: Nils-Christian Iseke <nilsmailiseke@gmail.com> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> Signed-off-by: Maurice-1235 <mauricepurnawan@gmail.com> Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Signed-off-by: haider8645 <haider_lodhi@hotmail.com> Signed-off-by: Adi Vardi <adi.vardi@enway.ai> Signed-off-by: Silvio Traversaro <silvio@traversaro.it> Signed-off-by: Silvio <silvio.traversaro@iit.it> Signed-off-by: nishalangovender <nishalan.govender@gmail.com> Signed-off-by: Nishalan Govender <nishalan.govender@gmail.com> Co-authored-by: Nils-Christian Iseke <48475933+Nils-ChristianIseke@users.noreply.github.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: alexanderjyuen <103065090+alexanderjyuen@users.noreply.github.com> Co-authored-by: Marco Bassa <101661130+MarcoMatteoBassa@users.noreply.github.com> Co-authored-by: mini-1235 <mauricepurnawan@gmail.com> Co-authored-by: Stevedan Ogochukwu Omodolor <61468301+stevedanomodolor@users.noreply.github.com> Co-authored-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Co-authored-by: Haider <haider_lodhi@hotmail.com> Co-authored-by: Adi Vardi <57910756+adivardi@users.noreply.github.com> Co-authored-by: Silvio Traversaro <silvio@traversaro.it> Co-authored-by: Nishalan Govender <137301877+nishalangovender@users.noreply.github.com> Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com>
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Move some of the task base classes out to separate directories and create TaskClient and TaskServer classes that have start/stop functionality.