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Hi @webvenky and @stevemacenski,
To augment @aaronchongth 's response, I've added a section to the rmf_demos FAQ page which may be helpful in answering how you can integrate robots running navstacks (in simulation & real world) with RMF.
TLDR;
slotcar
plugin is only for simulation efficiency.nav2_waypoint_follower
compliment this objective.