More accurate RobotMode in FleetState published by FleetUpdateHandle
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Yadunund commented
The FleetUpdateHandle has an option to publish to /fleet_states at a specified interval. But the RobotMode field is always either MODE_MOVING or MODE_IDLE as seen here.
It is desirable to have the RobotMode to be more accurate for user interfaces. Eg; reflect MODE_CHARGING while charging or MODE_DOCKING while docking. This is not a problem in full_control as the fleet states is not published by FleetUpdateHandle but by robot_state_aggregator.