Is there a working example of how custom action , action_execution Works

[TheConstructAi]

Hi,

Trying to make Action execution work , but having issues related to mak it work with the provided examples and guidelines :

open-rmf/fleet_adapter_ecobot#15

Tutorial, but not giving a clear example of how to use it: https://osrf.github.io/ros2multirobotbook/task_userdefined.html?highlight=action#user-defined-custom-tasks-in-rmf-task

Is there someone that has a working example of using this to perform a custom action outside using the docking tag or hacky dispenser/ingestor trick? So a plain clear example of how to use this that works?

It would help a lot to clarify how this sis supos to be used.