EasyFullControl (#235)

Signed-off-by: Xi Yu Oh <xiyu@openrobotics.org>
Signed-off-by: Yadunund <yadunund@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Michael X. Grey <grey@openrobotics.org>
Signed-off-by: Xi Yu Oh <xiyuoh@intrinsic.ai>
Co-authored-by: Yadunund <yadunund@openrobotics.org>
Co-authored-by: Luca Della Vedova <luca@openrobotics.org>
Co-authored-by: Michael X. Grey <grey@openrobotics.org>

rmf_fleet_adapter/include/rmf_fleet_adapter/agv/Adapter.hpp

@@ -19,6 +19,7 @@
 
 #include <rmf_fleet_adapter/agv/FleetUpdateHandle.hpp>
 #include <rmf_fleet_adapter/agv/EasyTrafficLight.hpp>
+#include <rmf_fleet_adapter/agv/EasyFullControl.hpp>
 
 #include <rmf_traffic/agv/VehicleTraits.hpp>
 #include <rmf_traffic/agv/Graph.hpp>
@@ -77,6 +78,15 @@ class Adapter : public std::enable_shared_from_this<Adapter>
     const rclcpp::NodeOptions& node_options = rclcpp::NodeOptions(),
     std::optional<rmf_traffic::Duration> discovery_timeout = std::nullopt);
 
+  /// Add an Easy Full Control fleet to be adapted.
+  ///
+  /// \param[in] config
+  ///   Configuration for the new Easy Full Control fleet.
+  ///
+  /// \return The handle for adding new robots to the fleet.
+  std::shared_ptr<EasyFullControl> add_easy_fleet(
+    const EasyFullControl::FleetConfiguration& config);
+
   /// Add a fleet to be adapted.
   ///
   /// If a single real-life fleet needs to integrate robots with varying traits