[Bug]: Remove publishers related to /task_summaries topic

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OS and version

Ubuntu 24.04

Open-RMF installation type

Source build

Other Open-RMF installation methods

No response

Open-RMF version or commit hash

main

ROS distribution

Jazzy

ROS installation type

Source build

Other ROS installation methods

No response

Package or library, if applicable

No response

Description of the bug

The /task_summaries topic is not publishing any data despite having an active publisher. This critical issue prevents task monitoring and visualization systems from receiving task status updates from fleet adapters.

Steps to reproduce the bug

1. Launch the 4D demo: ros2 launch rmf_demos_gz office.launch.xml
2. Wait for all components to start (fleet adapter, traffic schedule, etc.)
3. Check if the topic exists: ros2 topic list | grep task_summaries
4. Verify publisher info: ros2 topic info /task_summaries
5. Attempt to read messages: ros2 topic echo /task_summaries --once
6. Check publishing rate: ros2 topic hz /task_summaries
7. Submit a delivery task to trigger task execution
8. Observe that no messages are published to the topic

Expected behavior

• The /task_summaries topic should publish rmf_task_msgs/msg/TaskSummary messages containing:

1. Task status updates (QUEUED, ACTIVE, COMPLETED, FAILED, etc.)
2. Task progress information
3. Robot assignment details
4. Task timing information

• Messages should be published when:

2. Tasks are submitted to robots
3. Task states change
4. Tasks complete or fail
5. Robots are assigned to tasks

• The topic should show a publishing rate > 0 Hz when tasks are active

Actual behavior

1. The/task_summaries topic exists with 1 publisher and 0 subscribers
2. No messages are published to the topic
3. ros2 topic echo /task_summaries --once produces no output
4. ros2 topic hz /task_summaries shows no publishing rate
5. Task monitoring and visualization systems receive no data
6. The topic remains silent even when tasks are submitted and executed

Additional information or screenshots

RMF Version: Built from source (commit: fa98228684dad6d75971bdd5818af320fadbcc0d) ROS2 Distribution: Jazzy

###Investigation results $ ros2 topic info /task_summaries Type: rmf_task_msgs/msg/TaskSummary Publisher count: 1 Subscription count: 0

$ ros2 topic echo /task_summaries --once No output

$ ros2 topic hz /task_summaries No output

##Code Analysis: Publisher is created in src/rmf/rmf_ros2/rmf_fleet_adapter/src/rmf_fleet_adapter/agv/Node.cpp:61-63 Topic name defined in src/rmf/rmf_ros2/rmf_fleet_adapter/include/rmf_fleet_adapter/StandardNames.hpp:54 Issue appears to be in the connection between LegacyTask status updates and the ROS publisher ##Impact: Task monitoring systems cannot track robot progress Visualization dashboards receive no task data External integrations fail Debugging and troubleshooting become difficult ##Related Files: src/rmf/rmf_ros2/rmf_fleet_adapter/src/rmf_fleet_adapter/agv/Node.cpp src/rmf/rmf_ros2/rmf_fleet_adapter/src/rmf_fleet_adapter/LegacyTask.cpp src/rmf/rmf_ros2/rmf_fleet_adapter/src/rmf_fleet_adapter/TaskManager.cpp