This repository is a fork of open-rmf/rmf_demos,
based on the 2.0.3 tag.
All original demos are preserved, and additional worlds/code used for my own experiments are marked explicitly.

RMF Demos

The Open Robotics Middleware Framework (Open-RMF) enables interoperability among heterogeneous robot fleets while managing robot traffic that share resources such as space, building infrastructure systems (lifts, doors, etc) and other automation systems within the same facility. Open-RMF also handles task allocation and conflict resolution among its participants (de-conflicting traffic lanes and other resources). These capabilities are provided by various libraries in Open-RMF. For more details about Open RMF, refer to the comprehensive documentation provided here.

This repository contains demonstrations of the above mentioned capabilities of RMF. It serves as a starting point for working and integrating with Open-RMF.

(Click to watch video)

System Requirements

These demos were built and tested on

• Ubuntu 22.04 LTS

• ROS 2 - Humble

• Gazebo Classic 11

Note: RMF is fully supported on ROS 2 Foxy as well

Installation

Official installation and background information for Open-RMF can be found here.

This fork assumes the following environment:

• Ubuntu 22.04
• ROS 2 Humble
• Gazebo Classic (e.g., Gazebo 11)
• Open-RMF installed from binary packages on Humble

1. Install RMF binary packages (Humble)

If you have not installed Open-RMF on Humble yet:

sudo apt update && sudo apt install ros-dev-tools -y

sudo rosdep init # run if first time using rosdep.
rosdep update

colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
colcon mixin update default

sudo apt update
sudo apt install ros-humble-rmf-dev

2. Create a workspace and clone this repository

mkdir -p ~/rmf_ws/src
cd ~/rmf_ws/src
git clone https://github.com/agbread/rmf_demos.git

3. Install dependencies for rmf_demos(recommended)

cd ~/rmf_ws
rosdep install --from-paths src --ignore-src -r -y

4. Build and source the workspace

cd ~/rmf_ws
colcon build
source install/setup.bash

FAQ

Answers to frequently asked questions can be found here.

Roadmap

A near-term roadmap of the Open-RMF project can be found in the user manual here.

RMF-Web

Full web application of Open-RMF: rmf-web.

In order to interact with the default configuration of the web application, the server_uri launch parameter will need to be changed to ws://localhost:8000/_internal, for example,

ros2 launch rmf_demos_gz office.launch.xml server_uri:="ws://localhost:8000/_internal"

By specifying server_uri, the fleetadapter will update rmf-web api-server with the latest task and robot states. User can then monitor on-going states and initiate rmf task with an interactive web dashboard.

Demo Worlds

The following demo worlds are available in this repository:

• Hotel World
• Office World
• Airport Terminal World
• Clinic World
• Campus World
• Manufacturing & Logistics World
• RCI Lab World

Except for the RCI Lab World, all of the above worlds are the original Open-RMF demos from the upstream repository at tag 2.0.3.
For detailed descriptions, figures, and usage instructions of these original worlds,
please refer to the upstream README:

https://github.com/open-rmf/rmf_demos/tree/2.0.3#demo-worlds

RMF Panel

Click this link: https://open-rmf.github.io/rmf-panel-js/

For a full-proof web application of Open-RMF, please refer to rmf-web.

The RMF panel is a web based dashboard for interacting with rmf_demos. It allows users to send task requests to RMF and monitor the status of robots and submitted tasks. For more details.

There are two main modes of submitting tasks to Open-RMF via the Panel:

1. Submit a Task: Used to submit a single task.
2. Submit a List of Tasks: Used to submit a batch of tasks. A .json file containing a list of tasks may be loaded via the Choose file button. Some example files are found in rmf_demos_panel/task_lists.

LATEST UPDATE: Display Task States

task_state_updates are now published via websocket. To display task states on rmf-panel, specify server_uri:="ws://localhost:7878" during ros2 launch. Example:

ros2 launch rmf_demos_gz_classic rcilab.launch.xml server_uri:="ws://localhost:7878"

This will let Open-RMF (websocket clients) to publish their states to port 7878. In this case, rmf-panel's api_simple_server is the websocket server.

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RCI Lab World

This world is an additional demo provided by this fork (not part of the upstream open-rmf/rmf_demos).

The RCI Lab World represents a simple two-storey lab environment inspired by the RCI robotics lab.
It is designed to showcase multi-floor coordination using a single lift and multiple robot roles in a compact map.

• Floors
  • 2 levels (L1, L2)
• Robots
  • deliveryRobot – delivery-focused fleet
  • cleanerBot – cleaning-focused fleet
  • tinyRobot – small patrol robot
• Infrastructure
  • 1 lift connecting L1 and L2
  • 1 door per floor integrated with Open-RMF

In the screenshot below, the left panel shows the upper floor of the RCI Lab World running in Gazebo with one of the robots and lab furniture, while the right panel shows the corresponding 2D layout and routes in the rviz schedule visualizer and traffic_editor (waypoints, chargers, and paths for the robots):

Tested environment and RMF version

This demo uses the same OS / ROS 2 / Gazebo setup as described in the System Requirements section above.

For Open-RMF itself, this fork is based on the 2.0.3 tag and was tested with the Humble binary packages, installed via:

sudo apt update && sudo apt install ros-humble-rmf-dev

Demo Scenario

The following GIF shows an example of a clean task running in the RCI Lab World:

To launch the RCI Lab world and the schedule visualizer:

source ~/rmf_ws/install/setup.bash
ros2 launch rmf_demos_gz_classic rcilab.launch.xml

# Example: loop / patrol task
ros2 run rmf_demos_tasks dispatch_patrol -p loop1 loop2 -n 3 --use_sim_time
# Example: delivery task
ros2 run rmf_demos_tasks dispatch_delivery -p restaurant -ph coke_dispenser -d desk -dh coke_ingestor --use_sim_time
# Example: clean task
ros2 run rmf_demos_tasks dispatch_clean -cs clean_RCI --use_sim_time