Fixes issue regarding DoorRequest.

src/integration_doors.md

@@ -30,6 +30,6 @@ To make the process of integrating doors with RMF even simpler, we have open-sou
 
 There is no way to trigger a door request before a robot reaches the door by default, however it can be implemented by the user by following the steps below:
 
-The fleet adapter integration can track the position of the robot. If it is detected that the robot is "close enough" to a door, a door request can be published to the `adapter_door_requests` topic. The robot will still stop for a moment at `door_in`(area near the door and inside the room) to make sure that the door is open before proceeding, but this should only take a fraction of a second if the network is decent.
+The fleet adapter integration can track the position of the robot. If it is detected that the robot is "close enough" to a door, a [DoorRequest.msg](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_door_msgs/msg/DoorRequest.msg) can be published to the `adapter_door_requests` topic. The robot will still stop for a moment at `door_in`(area near the door and inside the room) to make sure that the door is open before proceeding, but this should only take a fraction of a second if the network is decent.
 
-Note: The user should make sure that `requester_id` matches the id that the fleet adapter is using for your robot, that is `fleet_name/robot_name`. Using the correct `requester_id` for the robot means that the task management system will automatically clear the `DoorOpen` request once the robot reaches `door_out`(area near the door and outside the room). If a different `requester_id` is used, then the fleet adapter integration will need to clear the request itself by sending a `DoorClose` request with the same `requester_id` once the robot has moved far enough away from the door.
+Note: The user should make sure that `requester_id` matches the id that the fleet adapter is using for your robot, that is `fleet_name/robot_name`. Using the correct `requester_id` for the robot means that the task management system will automatically clear the [`DoorOpen`](https://github.com/open-rmf/rmf_ros2/blob/main/rmf_fleet_adapter/src/rmf_fleet_adapter/phases/DoorOpen.cpp) request once the robot reaches `door_out`(area near the door and outside the room). If a different `requester_id` is used, then the fleet adapter integration will need to clear the request itself by sending a [`DoorClose` ](https://github.com/open-rmf/rmf_ros2/blob/main/rmf_fleet_adapter/src/rmf_fleet_adapter/phases/DoorClose.cpp) request with the same `requester_id` once the robot has moved far enough away from the door.