[Other issue]: Implement a custom action to the adapter under the humble branch

[RobLevv]

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

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

Description

Hi, I want to add a custom action to my robot. I managed to make it recognized and controlled by open-rmf but i would like to add other capabilities to my fleet. I followed the tutorial on how to do it but when looking for the execute_action function in the fleet adapter, i did not find it in the humble branch whereas in the main branch, the adapter template is refactored and contains the execute_action function needed in the tutorial

How can i do that in this version, is there a way to do it without that function, if yes how ? Should I refactor the adapter as in the main branch.

In the README it is said that for humble users, we should checkout to the humble branch does that mean that this feature is not possible ?

Thank you

[Yadunund]

If source ROS 2 Humble and build the rest of Open-RMF from source with main branches checked out, you should be able to build the main branch of this repo.

[RobLevv]

Thank you for you answer, I built from source as you said and modified my api to suit the new architecture. Everything seems to work fine Thank you very much

[Yadunund]

Glad to hear that!