Questions on using EasyTrafficLight

[quantumxt]

Hi,
We are developing a fleet adapter that would be utilizing the EasyTrafficLight adapter. After looking through the FullControl template example & testing the traffic_light example inside rmf_fleet_adapter_python package, we have the following questions:

• After adding the robots via add_easy_traffic_light of a fleet, would it publish the fleet_state of the fleet? Or do we still need to add the robot into the some kind of fleet handle?
• Is there a way to update the current robot position when using EasyTrafficLight?
• Do we need to have add_fleet via the adapter when using EasyTrafficLight?

Thank you in advance for your answer.

[OtsawKenny]

Hi @quantumxt wondering if u might have any luck implementing EasyTrafficLight?
Tasked to do the same as well, but having trouble finding good resources to guide on implementing a Traffic light Fleet Adapter