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Add request_type identifier and configurable retreat_to_charger #1264

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Add request_type identifier and configurable retreat_to_charger

Add request_type identifier and configurable retreat_to_charger #1264

Run time

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Job Run time
rmf_task / Build and test (humble, jammy)
10m 19s
rmf_task / Build and test (rolling, jammy)
10m 18s
20m 37s