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Like to clarify in a scenario where a fleet adapter does not create a client to the rmf_fleet_msgs::srv::LiftClearance service, the lift will not wait for any DECISION_CLEAR or DECISION_CROWDED response when a LiftRequests is sent from the particular the fleet adapter. Is this understanding correct? The fleet adapter would be deployed in an RMF instance with a running experimental_lift_watchdog node, alongside another fleet adapter where integration to the lift watchdog is enabled. related PR osrf/rmf_core#295 |
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Right, if the fleet adapter isn't configured to create the |
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Right, if the fleet adapter isn't configured to create the
LiftClearanceclient, then there's no way for it to receive aDECISION_CLEARorDECISION_CROWDEDresponse from anyLiftClearanceservice, so it will just go ahead and enter the lift without checking whether it's clear.