Submitting Tasks

[MatteoCarlone]

Hi,
I'm trying to use OpenRMF in Ubuntu 22.04 , ros-distro Humble, to control a turtlebot4. I initially just wanted to make the robot navigate trough waypoints. those are the steps I made:

• I created a lane graph map with the traffic editor
• I have a draft of fleet adapter for my robot created by following the fleet_adapter_template repo
• Then by following the rmf-demos office example I create the launch files to launch the fleet adapter and the other common components of open-rmf

as a result I see the lan graph map in rviz, and the fleet adapter succesfully connects with the robot. How can I test the navigation by submitting tasks? the robot should be configure to do what in the doc is called loop task? can someone gives me some guidelines?
I'm pretty new about open-rmf an help would be really appreciated!
thanks in advance