[Feature request]: Add /robot_state topic published from free_fleet_server

[DoppiaEffe94]

Before proceeding, is there an existing issue or discussion for this?

• I have done a search for similar issues and discussions.

Description

Hi All!

As mentioned in #121, free_fleet seems not to be compatible with rmf_demos_fleet_adapter.

As a consequence, I guesses that also the implementation of fleet_adapter_template shouldn't be compatible with free_fleet.

Are there any update on that? Something changed in the last 2 years?

Implementation Considerations

Taking into account the Description part, I still tried to implement a pipeline that includes both free_fleet and rmf_demos_fleet_adapter.

One possible solution that I found is the implementation of a publisher in free_fleet_server. This will allow us to update the location and path of each robot in the topic /robot_state, in order to keep publishing waypoints sequentially and respecting the execution time.

Thank you to take into consideration this request and let me know if you are open to a PR to fix this.

Alternatives

No response

Additional information

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