Example with rmf_demos

[chianfern]

Implementation of a fleet adapter that integrates free_fleet manager and clients with the RMF demos (rmf_demos commit 2371649),

The adapter is based on the existing full_control fleet adapter, with modifications to utilise free_fleet's features for control and tracking of robots.

client provides an implementation of free_fleet's client for the slotcar robot from rmf_simulation.

[eliasdc]

What's the reason to completely re-implement the adapter? Why not use the same approach as in main branch with a free fleet server sending data to rmf adapter through ROS2? With the current approach you would need to implement it for each control type (full_control, read_only, etc.).

[aaronchongth]

Hello @eliasdc! There are plans to deprecate the messages the free fleet main branch uses to communicate with the RMF fleet adapter as an API call, as it doesn't extend the full capabilities of RMF to these fleets. The same goes for Full Control and Read Only, as we have released a new flexible task system.

Instead, the recommended way is to implement the fleet adapter's interfaces to suit the fleet's operations. We are currently exploring this integration.