Add reached API to read-only fleet adapter #387
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This PR adds the
reached()API to the read-only fleet adapter.Currently when a read-only robot's path is populated in RobotState, a route is created and stored in the FleetAdapterNode. This PR further populates the route with checkpoints using all the waypoints in the RobotState path. When the read-only robot reaches a new checkpoint, the API is called and allows better tracking of the robot progress around the map, which would help the full-control robots in the same map to move out of the read-only robot's way.
This PR uses the shortest distance away from the next checkpoint to measure whether the robot has reached, and assumes that the robot is always using the newest route in the itinerary.