cpswarm_msgs/TaskAllocation Action

# Define the goal
string auctioneer                   # UUID of the CPS performing the task allocation
uint32 task_id                      # ID of the task
geometry_msgs/PoseStamped task_pose # Local position of the task
---
# Define the result
string winner                       # UUID of the CPS to which the task is allocated
uint32 task_id                      # ID of the task
geometry_msgs/PoseStamped task_pose # Local position of the task (if assignment failed, use as input)
---
# Define the feeeback