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EasyFullControl (#235) #302

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merged 1 commit into from
Sep 19, 2023
Merged

EasyFullControl (#235) #302

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10 changes: 10 additions & 0 deletions rmf_fleet_adapter/include/rmf_fleet_adapter/agv/Adapter.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@

#include <rmf_fleet_adapter/agv/FleetUpdateHandle.hpp>
#include <rmf_fleet_adapter/agv/EasyTrafficLight.hpp>
#include <rmf_fleet_adapter/agv/EasyFullControl.hpp>

#include <rmf_traffic/agv/VehicleTraits.hpp>
#include <rmf_traffic/agv/Graph.hpp>
Expand Down Expand Up @@ -77,6 +78,15 @@ class Adapter : public std::enable_shared_from_this<Adapter>
const rclcpp::NodeOptions& node_options = rclcpp::NodeOptions(),
std::optional<rmf_traffic::Duration> discovery_timeout = std::nullopt);

/// Add an Easy Full Control fleet to be adapted.
///
/// \param[in] config
/// Configuration for the new Easy Full Control fleet.
///
/// \return The handle for adding new robots to the fleet.
std::shared_ptr<EasyFullControl> add_easy_fleet(
const EasyFullControl::FleetConfiguration& config);

/// Add a fleet to be adapted.
///
/// If a single real-life fleet needs to integrate robots with varying traits
Expand Down
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