How does the fullcontroll docking work?

[TheConstructAi]

Hi,

We are getting this message:

[full_control-15] [INFO] [1670588367.352789816] [barista_fleet_adapter]: Requesting robot [barista_1] of [barista] to dock into waypoint [in_3]
[schedule_visualizer_node-4] [INFO] [1670588400.957913293] [schedule_data_node]: Requesting new schedule update because update timed out

Using the standard fullcontrol rmf_fleet_adapter/fleet_adapter.launch.xml and we were wondering how is this used?
Because as far as we had been informed in previous discussions, we had to create a custom adapter to exploit the dock_nae property of the RMF maps. But its seems there is a build in docking system in this fullcontrol adapter?

And is this present in the newest EasyControl systems of the adapters used in the latest demos?

Could anyone clear up a bit this topic, because its a source of confusion on how exactly is the best and optimal way of managing docking, cleaning and custom tasks in RMF