Best example of using the docking methods inside the EasyFullControl (#277)

Open-RMF Open-RMF General
1

Posted by @TheConstructAi:

Hi,

What would be the best example of how to use the EasyFullControl for docking.
By docking is calling a ROS2 service for the robot to do the docking or some API call that essentially triggers this conduct?

This was answered in this discussion, and we have it working: #235
But this was before the EasyFullControl fleet_adapter.py, while now in recent examples its used roscon fleet_adapter.py.

It would be great to know exactly how to integrate it using for example the roscon adapter mentioned above or even the fleet adapter in cpp for turtlebot4 FleetAdapter.cpp:

How would this be done in both python and C++?
Is there a preferred way?
Any examples about the subject?

I think this would clear up how to make integration with the adapters better.

2

Posted by @cardboardcode:

Hi @TheConstructAi , not the maintainer here but also had this same query about implementing docking methods inside EasyFullControl robot fleet adapters.

Regarding implementing docking methods in python:

A good example can be found here: rmf_demos/rmf_demos_fleet_adapter/rmf_demos_fleet_adapter/fleet_adapter.py at 7229891e8f2cc91fe9f1fb0298efa08425c21119 · open-rmf/rmf_demos · GitHub

Could not find an example for C++ for now but will update here if I find any.