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open-rmf / fleet_adapter_template

Apache License 2.0
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Help: integrate open RMF with 2 robots #12

Closed SuperTunaa closed 2 years ago

SuperTunaa commented 2 years ago

Hi @Yadunund, I'm trying to connect a robot simulation with rmf_core using a custom fleet_adapter. It can do this command ros2 run rmf_demos_tasks dispatch_loop -s p0 -f p1 --use_sim_time

I'm trying to add a new robot to fleet_adapter. I update config.yaml, nav_graph.yaml. but I'm not sure what need to do more or what am I missing. I have an issue with the second robot is called the position of the first robot.

image

This is a real position. image

Yadunund commented 2 years ago

This question is far too general and lacking details on technical implementations. So without seeing your code, I can't offer much help as it is not a problem with this template but rather your setup. In particular I would need to see how you implemented the "fleet manager" that communicates with robots in simulation and provides endpoints for your adapter to query. I'm also assuming when you say "robot simulation", are you referring to one of the rmf_demos where robots are powered using the slotcar plugin.

But as of recently, all our robots in rmf_demos are controlled by a fleet adapter that was implemented using this template. We have an rmf_demos_fleet_manager which the adapter communicates to. So what you're trying to do is already achieved in the rmf_demos repository. Take a look at the documentation here for more information.

SuperTunaa commented 2 years ago

Thank you for your answer.