Writing adapters for robot's with ROS2 interface

[saikishor]

Hello!

First of all, Congratulations on the great work. I'm impressed with what Open-RMF can do after attending the workshop at ROSCon 2022. We are interested in integrating our robots and other robots with ROS2 interface. I've a few questions in this regard.

I've been looking at the awesome_adapter package and it has a couple of adapters while some use their own robot's API to control. However, I found the adapter from TurtleBot 4, which uses the pure ROS2 interface to control the robot. Do you suggest using it as an example to start with our adapter or do you have any other recommendations? and instructions on how to integrate our robots with free_fleet are appreciated.

[Yadunund]

fleet_adapter_template may be a good starting point for a fleet adapter

If all your robots have ROS 2 interfaces and you don't want to deal with namespacing each interface per robot, then free_fleet is a very convenient mode of integration

[saikishor]

Thank you @Yadunund!