How to apply free_fleet in real robot

[ncnynl]

Is there an example of using free_fleet for a turtlebot3 real robot?
And an example of rmf_demos using rmf navigation through a turtlebot3 real robot?

I tested the simulation function, and I am still a little confused about how to implement it in the real turtlebot3, especially I want to apply the rmf navigation method instead of the naviagation2 method

[aaronchongth]

Since #145 has been merged, the integration scheme has changed significantly. However it has been simplified immensely, such that only zenoh bridges are required to run on the robots, with proper configurations, while the free fleet adapter will handle communications in zenoh.

Please try it out and let us know if you run into more issues.