Question on RobotState msg
Closed this issue · 2 comments
When creating a fleet adapter for a custom robot fleet which supplies RobotState messages, is it necessary to supply the last parameter in the msg Location[] path? Other RobotState parameters will be supplied like battery percent except for the path array whose elements will be all 0, would such messages still work or will it cause traffic management issues?
The RobotState API is considered deprecated. The recommended way to integrate a full control category robot is to use the C++ API.
But if you decide to use the deprecated rmf_fleet_msgs API, then you do need to provide the path field, or else, like you inferred, there will be traffic management issues because RMF won't know where your robot is trying to go.
Closing as this is not an issue. To continue discussing this topic, please open a discussion.