How to start RMF with free fleet

[Rayman]

I was able to launch free fleet with both the ros2 server side and the ros1 client side:

ros2 launch ff_examples_ros2 turtlebot3_world_ff.launch.xml
roslaunch ff_examples_ros1 turtlebot3_world_ff.launch

But how do I start RMF with this? Is there a specific launch file with a configuration for the turtlebot world?

[aaronchongth]

Hello @Rayman!

There are some further setup required to use free fleet with RMF, you would need

• a navigation graph generated using traffic_editor and building_map_tools, example here
• to configure a fleet adapter with the parameters of the robot fleet, example here, providing it with the navigation graph generated previously

There is currently no working example in simulation that integrates free fleet with RMF at the moment, due to the simulated robots running ROS 1 while all plugins developed for RMF use ROS 2 (doors, lifts, humans, etc).

However we have been using this setup for physical robots. The interaction between free fleet and the RMF fleet adapter is in ROS 2 topics, linked here, which the free fleet server publishes and subscribes to.

[Rayman]

Thanks for the pointers!

[edcogue]

I'm trying to connect also RMF and Free Fleet. Is the tinyRobotAdapter ready to use in simulation or needs some development? Also I have a navigation graph developed but I don't know how to launch the adapter. Is as simple as launch the launchfile passing navigation graph_file to make things work?

[aaronchongth]

Hello @edcogue!

I'm trying to connect also RMF and Free Fleet. Is the tinyRobotAdapter ready to use in simulation or needs some development?

The tinyRobotAdapter can be used in simulation at the moment with the slotcar plugin, but not Free Fleet.

Also I have a navigation graph developed but I don't know how to launch the adapter. Is as simple as launch the launchfile passing navigation graph_file to make things work?

We have some examples on how to launch a fleet adapter with a navigation graph here, https://github.com/open-rmf/rmf_demos/blob/main/rmf_demos/launch/hotel.launch.xml#L46-L60

[RDaneelOlivav]

Hi! I managed to have a simulation working with Nav2 and Freefleet server. Also to have the RMF working with its map and everything needed for RMF to work.

But is there a way to connect the Free Fleet with the RMF? It doesn't seem to find the robots available for planning. I tested and it works if I use the sltcar plugin, but I want the robots to use the navigation stack.

Do I have to implement a bridge between the FF-Server and the rmf_task_dispatcher?

Any insights on this?

It should appear this as output, but it doesn't:

[rmf_traffic_schedule-1] [INFO] [1651059119.519815996] [rmf_traffic_schedule_primary]: Registered participant [0] named [robot_fleet_name_1] owned by [robot_fleet_name] [full_control-13] [INFO] [1651059119.520535818] [barista_fleet_adapter]: Added a robot named [robot_fleet_name_1] with participant ID [0] [full_control-13] [WARN] [1651059119.526881675] [barista_fleet_adapter]: Failed to update using patch for DB version 2; requesting new update

I'm getting this warning error:

Unable to compute a StartSet for robot [robot_fleet_name_1] using level_name [turtlebot_world] and location [-1.894985, -0.420003, -0.000246] specified in its RobotState message. This can happen if the level_name in the RobotState message does not match any of the map names in the navigation graph supplied or if the location reported in the RobotState message is far way from the navigation graph. This robot will not be added to the fleet [robot_fleet_name]. The following hint may help with debugging: None of the waypoints in the graph are on a map called [turtlebot_world].

Is there something of setup that has to be done to make coincide eteh state of the robot with the reference map?

[frkngltk]

Hello @RDaneelOlivav,

Is there any progress on this situation? Is there an application or method that you could provide a solution for?

[alperen-keser]

Hi @RDaneelOlivav.

I am also working on the same application. Any progress?

[tomkimsour]

I'm also interested in this