RMF

安装RMF

RMF官方教程

安装ROS2

安装RMF（源码）

Installation

1. 安装依赖

sudo apt update && sudo apt install \
  git cmake python3-vcstool curl \
  qt5-default \
  -y
python3 -m pip install flask-socketio
sudo apt-get install python3-colcon*

2. 下载源码

mkdir -p ~/rmf_ws/src
cd ~/rmf_ws
wget https://raw.githubusercontent.com/open-rmf/rmf/main/rmf.repos
vcs import src < rmf.repos

cd ~/rmf_ws
rosdep install --from-paths src --ignore-src --rosdistro <ro2distro> -y

3. 编译源码

cd ~/rmf_ws
source /opt/ros/<ro2distro>/setup.bash
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

DEMOS

1. 安装demo功能包

# Demos example with gazebo simulator, use ros-humble-rmf-demos-ign for ignition
sudo apt-get install ros-humble-rmf-demos-gz

2. 运行airport terminal

ros2 run rmf_building_map_tools model_downloader rmf_demos_maps -s airport_terminal

ros2 launch rmf_demos_gz airport_terminal.launch.xml
# or with ignition
ros2 launch rmf_demos_ign airport_terminal.launch.xml

3. 设置任务

# Loop Task
ros2 run rmf_demos_tasks dispatch_loop -s s07 -f n12 -n 3 --use_sim_time

# Delivery Task
ros2 run rmf_demos_tasks dispatch_delivery -p mopcart_pickup -pd mopcart_dispenser -d spill -di mopcart_collector --use_sim_time

# Clean Task
ros2 run rmf_demos_tasks dispatch_clean -cs zone_3 --use_sim_time

4. 打开后台管理
   后台管理系统
   复制粘贴下面内容到Task List Box:

[{"task_type":"Delivery", "start_time":0, "description": {"option": "mop"}},
 {"task_type":"Loop", "start_time":0, "description": {"num_loops":10, "start_name":"junction_north_west", "finish_name":"n14"}},
 {"task_type":"Loop", "start_time":0, "description": {"num_loops":10, "start_name":"tinyRobot_n09", "finish_name":"s07"}},
 {"task_type":"Clean", "start_time":0, "priority":0, "description":{"cleaning_zone":"zone_2"}}
]

然后点击提交任务列表。

docker 运行RMF

1. 拉取rmf_demos镜像

docker pull ghcr.io/open-rmf/rmf/rmf_demos:latest
docker tag ghcr.io/open-rmf/rmf/rmf_demos:latest rmf:latest

2. 运行rmf_demos镜像

docker run -it --network host rmf:latest bash -c "export ROS_DOMAIN_ID=9; ros2 launch rmf_demos_gz office.launch.xml headless:=1"

3. 使用rmf_demos
   使用链接