search

open-rmf / rmf

Root repository for the RMF software
Apache License 2.0
238 stars 59 forks source link

[Other issue]: Unable to Control ROS1 Simulation with Free Fleet without Running RMF Simulation #478

Closed Oussamadal closed 3 months ago

Oussamadal commented 3 months ago

I am experiencing an issue while trying to control a robot in a ROS1 simulation using Free Fleet and Open RMF. Below is a detailed description of the problem:

Setup Details:
    I am using Free Fleet with a ROS1 simulation.
    Open RMF is being used to control the robot via Free Fleet.

Steps Taken:
    Modified the server and client launch files in Free Fleet to connect to my robot.
    Passed commands via terminal to move the robot, and it worked successfully.
    Created a fleet_adapter for a fleet named agv (same fleet name as used in Free Fleet).
    Ran RMF demos with the agv map created using Traffic Editor for the agv fleet.
    Both Open RMF simulation and ROS1 simulation have robots that move when an RMF task is assigned.

Problem:
    When I run RMF without the simulation, aiming to command my ROS1 simulation with Free Fleet,
     it does not work.
    I am forced to run the RMF simulation to control the external ROS1 simulation.

Expected Behavior

I should be able to control the ROS1 simulation using Free Fleet and Open RMF ,
without the need to run the RMF simulation.

Actual Behavior

RMF simulation needs to be running to control the ROS1 simulation.

Steps to Reproduce

Setup Free Fleet and Open RMF to control a ROS1 robot.
Modify server and client launch files in Free Fleet for connectivity.
Create a fleet adapter for a fleet named agv and run RMF demos with agv map.
Attempt to control the ROS1 simulation without running RMF simulation.

Environment

Free Fleet(client ros noetic,server ros galactic on host machine)
Open RMF(ros humble in a docker container)

Additional Context

The agv map and fleet were created using Traffic Editor.
Commands passed via terminal to Free Fleet successfully move the robot.
Control of the ROS1 robot is only functional when RMF simulation is running.

Request for Help

What steps should I take to enable control of the ROS1 simulation using Free Fleet without needing to run the RMF simulation?