Best example of using the docking methods inside the EasyFullControl

[TheConstructAi]

Hi,

What would be the best example of how to use the EasyFullControl for docking.
By docking is calling a ROS2 service for the robot to do the docking or some API call that essentially triggers this conduct?

This was answered in this discussion, and we have it working: #235
But this was before the EasyFullControl fleet_adapter.py, while now in recent examples its used roscon fleet_adapter.py.

It would be great to know exactly how to integrate it using for example the roscon adapter mentioned above or even the fleet adapter in cpp for turtlebot4 FleetAdapter.cpp:

How would this be done in both python and C++?
Is there a preferred way?
Any examples about the subject?

I think this would clear up how to make integration with the adapters better.

[cardboardcode]

Hi @TheConstructAi , not the maintainer here but also had this same query about implementing docking methods inside EasyFullControl robot fleet adapters.

Regarding implementing docking methods in python:

A good example can be found here: https://github.com/open-rmf/rmf_demos/blob/7229891e8f2cc91fe9f1fb0298efa08425c21119/rmf_demos_fleet_adapter/rmf_demos_fleet_adapter/fleet_adapter.py#L238-L242

Could not find an example for C++ for now but will update here if I find any.