search

open-rmf / fleet_adapter_template

Apache License 2.0
13 stars 21 forks source link

Help: integrate open RMF with my robot #8

Closed gregoryyts closed 2 years ago

gregoryyts commented 2 years ago

Hi Yadunund. Sorry if this isn't the right place to ask for the support I need (the support guidelines link - https://github.com/open-rmf/rmf/wiki/Support-guidelines - is redirecting to root repository of Open RMF).

I'm trying to integrate open RMF with a robot that works with ROS1 (I'm also using ros1_bridge), but when I try to run my fleet adapter, the message "ModuleNotFoundError: No module named rmf_fleet_adapter_python.planner" is shown.

I tried reinstalling Open RMF, and no error occurs when I do that (I'm using the branch called "foxy"). Is there something that I'm missing?

Operating system and version: Ubuntu 20.04 OpenRMF installation type: Binaries OpenRMF version or commit hash First version of working in ROS Foxy ROS distribution and version: ROS Foxy ROS installation type: Via debian packages

Yadunund commented 2 years ago

Hi @gregoryyts

Apologies for the link not working. It should redirect you to our discussions board where we help answer questions that users may have. You might want to look through some of the posts there are relevant ones for integrating ROS 1 robots with RMF.

To clarify more on your error,

The planner module in the bindings was only added in this commit which may not have been backported to the foxy version of the rmf_fleet_adapter_python` package. Hence, you are unable to load it.

We're no longer actively supporting the foxy version of RMF so you have a couple of options here:

  1. Switch to the galactic version.
  2. Open a PR to cherry-pick/backport that commit into the foxy version. We may also seek your help in blooming a patch
  3. Build RMF from source. This option will ensure you're always using the latest improvements in the code
gregoryyts commented 2 years ago

Sure, here's the output:

ii ros-foxy-rmf-battery 0.1.1-1focal.20210910.165827 amd64 Package for modelling battery life of robots ii ros-foxy-rmf-building-map-msgs 1.2.0-1focal.20211112.184900 amd64 Messages used to send building maps ii ros-foxy-rmf-building-map-tools 1.4.0-1focal.20211112.192127 amd64 RMF Building map tools ii ros-foxy-rmf-building-sim-common 1.3.0-1focal.20211112.194500 amd64 Common utility functions for Gazebo and ignition building plugins ii ros-foxy-rmf-building-sim-gazebo-plugins 1.3.0-1focal.20211119.131931 amd64 Gazebo plugins so that buildings generated by rmf_building_map_tools can talk to the ROS 2-based systems in the rmf_traffic_ros2 package. ii ros-foxy-rmf-cmake-uncrustify 1.2.0-1focal.20210906.142703 amd64 ament_cmake_uncrustify with support for parsing a config file. ii ros-foxy-rmf-demos 1.3.1-1focal.20211119.123434 amd64 Common launch files for RMF demos ii ros-foxy-rmf-demos-assets 1.3.1-1focal.20210922.171136 amd64 Models and other media used for RMF demos ii ros-foxy-rmf-demos-dashboard-resources 1.3.1-1focal.20210922.171137 amd64 Resource pack for RMF dashboard ii ros-foxy-rmf-demos-gz 1.3.1-1focal.20211119.132602 amd64 Launch files for RMF demos using the Gazebo simulator ii ros-foxy-rmf-demos-maps 1.3.1-1focal.20211119.122834 amd64 A package containing demo maps for rmf ii ros-foxy-rmf-demos-panel 1.3.1-1focal.20211112.190213 amd64 Web based RMF Demo Panel ii ros-foxy-rmf-demos-tasks 1.3.1-1focal.20211112.191007 amd64 A package containing scripts for demos ii ros-foxy-rmf-dispenser-msgs 1.4.0-1focal.20211112.184914 amd64 A package containing messages used to interface to dispenser workcells ii ros-foxy-rmf-door-msgs 1.4.0-1focal.20211112.183125 amd64 Messages used to interface to doors ii ros-foxy-rmf-fleet-adapter 1.4.0-1focal.20211112.200713 amd64 Fleet Adapter package for RMF fleets. ii ros-foxy-rmf-fleet-msgs 1.4.0-1focal.20211112.183506 amd64 A package containing messages used to interface to fleet managers ii ros-foxy-rmf-ingestor-msgs 1.4.0-1focal.20211112.185310 amd64 A package containing messages used to interface to ingestor workcells ii ros-foxy-rmf-lift-msgs 1.4.0-1focal.20211112.183037 amd64 Messages used to interface to lifts. ii ros-foxy-rmf-robot-sim-common 1.3.0-1focal.20211112.201251 amd64 Common utility functions for Gazebo and ignition RMF plugins ii ros-foxy-rmf-robot-sim-gazebo-plugins 1.3.0-1focal.20211119.131741 amd64 ROS 2 Gazebo plugins for TeleportIngestors, TeleportDispensers and Readonly Objects ii ros-foxy-rmf-task 1.0.0-1focal.20210913.061628 amd64 Package for managing tasks in the Robotics Middleware Framework ii ros-foxy-rmf-task-msgs 1.4.0-1focal.20211112.185314 amd64 A package containing messages used to specify tasks ii ros-foxy-rmf-task-ros2 1.4.0-1focal.20211112.195706 amd64 A package managing the dispatching of tasks in RMF system. ii ros-foxy-rmf-traffic 1.4.0-1focal.20210910.053721 amd64 Package for managing traffic in the Robotics Middleware Framework ii ros-foxy-rmf-traffic-msgs 1.4.0-1focal.20211112.184921 amd64 A package containing messages used by the RMF traffic management system. ii ros-foxy-rmf-traffic-ros2 1.4.0-1focal.20211112.194546 amd64 A package containing messages used by the RMF traffic management system. ii ros-foxy-rmf-utils 1.3.0-1focal.20210909.172550 amd64 Simple C++ programming utilities used by Robotics Middleware Framework packages ii ros-foxy-rmf-visualization 1.2.1-1focal.20211112.213416 amd64 Package containing a single launch file to bringup various visualizations ii ros-foxy-rmf-visualization-building-systems 1.2.1-1focal.20211112.185707 amd64 A visualizer for doors and lifts ii ros-foxy-rmf-visualization-fleet-states 1.2.1-1focal.20211112.192300 amd64 Fleet state visualizer ii ros-foxy-rmf-visualization-msgs 1.2.0-1focal.20211112.183033 amd64 A package containing messages used for visualizations ii ros-foxy-rmf-visualization-rviz2-plugins 1.2.1-1focal.20211112.213018 amd64 A package containing RViz2 plugins for RMF ii ros-foxy-rmf-visualization-schedule 1.2.1-1focal.20211112.195605 amd64 A visualizer for trajectories in rmf schedule ii ros-foxy-rmw 1.0.3-1focal.20211112.180952 amd64 Contains the ROS middleware API. ii ros-foxy-rmw-dds-common 1.0.3-1focal.20211112.182824 amd64 Define a common interface between DDS implementations of ROS middleware. ii ros-foxy-rmw-fastrtps-cpp 1.2.6-1focal.20211112.185808 amd64 Implement the ROS middleware interface using eProsima FastRTPS static code generation in C++. ii ros-foxy-rmw-fastrtps-shared-cpp 1.2.6-1focal.20211112.183201 amd64 Code shared on static and dynamic type support of rmw_fastrtps_cpp. ii ros-foxy-rmw-implementation 1.0.2-1focal.20211112.190156 amd64 The decision which ROS middleware implementation should be used for C++. ii ros-foxy-rmw-implementation-cmake 1.0.3-1focal.20210901.034658 amd64 CMake functions which can discover and enumerate available implementations.

Apparently, my version of RMF is not compatible with the adapter. I wil change to ROS Galactic and build RMF from source to see what happens. Thank you @Yadunund .

Yadunund commented 2 years ago

@gregoryyts you could also try the Galactic binaries instead. But keep in mind that if you do decide to build from source, make sure to remove all rmf related binaries due to a workspace issue that has been documented https://github.com/open-rmf/rmf/issues/99

You can run sudo apt remove ros-galactic-rmf-* (or replace the galactic above with foxy)