Reactive easy full control (#286)

Signed-off-by: Michael X. Grey <[email protected]> Signed-off-by: Xiyu Oh <[email protected]> Co-authored-by: Xiyu <[email protected]>
open-rmf · Aug 14, 2023 · 67079c2 · 67079c2
1 parent 0e1c2ae
commit 67079c2
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Showing 28 changed files with 4,323 additions and 2,122 deletions.
diff --git a/rmf_fleet_adapter/include/rmf_fleet_adapter/agv/Adapter.hpp b/rmf_fleet_adapter/include/rmf_fleet_adapter/agv/Adapter.hpp
@@ -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>
@@ -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