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open-rmf / rmf

Root repository for the RMF software
Apache License 2.0
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Interface to integrate robots with rmf #320

Open KaeYan opened 1 year ago

KaeYan commented 1 year ago

Hi rmf team,

Can I verify for robots, I should use the Fleet Adapter Python template in the document linked [here] (https://osrf.github.io/ros2multirobotbook/integration_fleets.html) to do integration?

Also, I used to see the rmf_fleet_msgs last time as the interface for robots, but it is not in the online document. What happened to the interface?

Thanks.

mxgrey commented 1 year ago

Working off of the Fleet Adapter Python template is a good idea. It's the most straightforward way to work towards a correctly functioning fleet adapter.

Also, I used to see the rmf_fleet_msgs last time as the interface for robots, but it is not in the online document. What happened to the interface?

That interface was written near the start of the RMF project, and we found that it's too easy for integrators to make subtle mistakes when using it. It's also unable to remain stable while we add new features and capabilities. It technically still exists as an option for integration, but only so that prior integration work can continue to function. We strongly discourage using it for any new integrations, and I advise anyone who is currently using it to migrate to the newer API.