From 0895b322fa57beffb303100bb15abad0194b10b3 Mon Sep 17 00:00:00 2001
From: Florian Rothmeyer <87825288+frothm@users.noreply.github.com>
Date: Wed, 8 Jan 2025 00:09:14 +0100
Subject: [PATCH] Replace copy/paste error in Read Only fleet adapter (#113)

see issue #112

Signed-off-by: Florian Rothmeyer <87825288+frothm@users.noreply.github.com>
---
 src/rmf-core.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/rmf-core.md b/src/rmf-core.md
index 7985929..96e54b2 100644
--- a/src/rmf-core.md
+++ b/src/rmf-core.md
@@ -87,7 +87,7 @@ real-world fleet managers.
 --- | --- | ---
 `Full Control` | <ul><li>Read the current location of the robot [x, y, yaw]</li><li>Request robot to move to [x, y, yaw] coordinate</li><li>Pause a robot while it is navigating to [x, y, yaw]</li><li>Resume a paused robot</li><li>Get route/path taken by robot to destination</li><li>ETA to destination</li><li>Read battery status of the robot</li><li>Infer when robot is done navigating to [x, y, yaw]</li><li>Send robot to docking/charging station</li><li>Switch on board map and re-localize robot.</li><li>Start a process (such as clean Zone_A)</li><li>Pause/resume/stop process</li><li>Infer when process is complete (specific to use case)</li></ul> | RMF is provided with live status updates and full control over the paths that each individual mobile robot uses when navigating through the environment. This control level provides the highest overall efficiency and compliance with RMF, which allows RMF to minimize stoppages and deal with unexpected scenarios gracefully. *(API available)*
 `Traffic Light` | <ul><li>Read the current location of the robot [x, y, yaw]</li><li>Pause a robot while it is navigating to [x, y, yaw]</li><li>Resume a paused robot</li><li>Read battery status of the robot</li><li>Send robot to docking/charging station</li><li>Start a process (such as clean Zone_A)</li><li>Pause/resume/stop process</li><li>Infer when process is complete (specific to use case)</li></ul> | RMF is given the status as well as pause/resume control over each mobile robot, which is useful for deconflicting traffic schedules especially when sharing resources like corridors, lifts and doors. *(API available)
-`Read Only` | <ul><li>Read the current location of the robot [x, y, yaw]</li><li>Pause a robot while it is navigating to [x, y, yaw]</li><li>Read battery status of the robot</li><li>Infer when process is complete (specific to use case)</li></ul> | RMF is not given any control over the mobile robots but is provided with regular status updates. This will allow other mobile robot fleets with higher control levels to avoid conflicts with this fleet. _Note that any shared space is allowed to have a maximum of just one "Read Only" fleet in operation. Having none is ideal._ *(Preliminary API available)*
+`Read Only` | <ul><li>Read the current location of the robot [x, y, yaw]</li><li>Read or infer the path that the robot will take to its current destination</li><li>Read average speed of the robot or ETA to destination</li><li>Read battery status of the robot</li><li>Infer when process is complete (specific to use case)</li></ul> | RMF is not given any control over the mobile robots but is provided with regular status updates. This will allow other mobile robot fleets with higher control levels to avoid conflicts with this fleet. _Note that any shared space is allowed to have a maximum of just one "Read Only" fleet in operation. Having none is ideal._ *(Preliminary API available)*
 `No Interface` | | Without any interface to the fleet, other fleets cannot coordinate with it through RMF, and will likely result in deadlocks when sharing the same navigable environment or resource. This level will not function with an RMF-enabled environment. *(Not compatible)*
 
 In short, the more collaborative a fleet is with RMF, the more harmoniously all of the fleets and systems are able to operate together.