Ackermann vehicles don't report their state

[Luca Della Vedova]

Bug report

Required information:

Ubuntu 20.04, on Galactic - RMF Source build

Description of the bug

Vehicles with Ackermann steering don't report their state in a ROS2 topic, hence making it impossible for downstream users to know / display their position.

Steps to reproduce the bug

Run a simulation with ackermann steering vehicles:

ros2 launch rmf_demos_ign test_ackmann.launch.xml

Then check the /robot_state topic in another terminal:

ros2 topic echo /robot_state

Expected behavior

The state of the robots is reported.

Actual behavior

Nothing is published

Additional information

It seems that in the design of the update_nonholonomic function the publish_robot_state(time) call was not included.