Example of _action_executor use with EasyFullControl (#302)

Open-RMF Open-RMF General
1

Posted by @TheConstructAi:

Hi,

I there any exmple on how to create a CUSTOM ACTION using the EasyFullControl adapter?
Meaning, where do we have to define this custom action, what to place in the fleet_adapterand so on?
Is there any example?

Because we would like to use this to define a docking action that:

  • Calls the API for the docking service of the robot
  • This will move the robot using perception to the docking plug
  • And finally stay in the docking station, publishing in the robot_state the cmd_id of that docking action, and hopefully avoiding that the rmf sending the robot back to the last known location?

Thanks in advance, any help would be much appreciated.