rmf_demo_tasks

This package provides scripts used in the RMF demos to demonstrate the tasks that may be requested of a robot.

Flexible Tasks

The new task system allows users to construct and submit their own tasks in a more flexible manner, such as having multiple stops in a loop or specifying a robot for a cleaning task. This package contains some helpful scripts that demonstrate how to compose such tasks:

• dispatch_patrol

  This task allows users to dispatch a robot to perform the patrol task. On top of the start and finish waypoints, you can provide a fleet name -F and robot name -R.

  Example for Office world, dispatch the task to a specific robot.

  ros2 run rmf_demos_tasks dispatch_patrol -F tinyRobot -R tinyRobot1 -p lounge -n 2 --use_sim_time
  

or multiple places for the robot to travel to:

  ros2 run rmf_demos_tasks dispatch_patrol -p supplies pantry coe --use_sim_time
  

• dispatch_clean

  This script submits a cleaning task. The -cs flag takes in the desired cleaning zone as an argument. You may also choose to specify a robot to perform the cleaning task by providing a fleet name -F and robot name -R.

  Example for Hotel world:

  ros2 run rmf_demos_tasks dispatch_clean -cs clean_lobby -F cleanerBotA -R cleanerBotA_1 --use_sim_time
  

• dispatch_action

  This script demonstrates how to compose a task with the PerformAction teleop feature. You can ask a robot to go to a starting point -s to execute an action, -a indicates the name of the action.

  Example for Office world. The example below shows an action name of “teleop”.

  ros2 run rmf_demos_tasks dispatch_action -F tinyRobot -R tinyRobot1 -a teleop -s coe --use_sim_time
  

After completing your teleop action, you will need to publish the following message to return control to RMF:

  ros2 topic pub /action_execution_notice rmf_fleet_msgs/msg/ModeRequest '{fleet_name:  tinyRobot, robot_name: tinyRobot1, mode: {mode: 0}}' --once
  

This script also takes a series of starting points -s as arguments and commands a robot to perform the same specified action at the given points.

Example for Office world. Run a total of 3 “teleop” actions at coe, supplies and pantry waypoints:

  ros2 run rmf_demos_tasks dispatch_action -a teleop -s coe supplies pantry --use_sim_time
  

The robot will move to each of these places and RMF will relinquish control. Similar to dispatch_action earlier, you may perform your desired action (e.g. using the provided teleop_robot script) and end the action by publishing a ModeRequest to /action_execution_notice. The robot will then move to the next point to perform the next action.

• dispatch_delivery

  This script allows users to perform deliveries with one or more pickup and drop-off locations. It takes in information about the pickup -p and dropoff -d activities in the order you submit them. For each activity, you will need to provide the place, handler, payload SKU and quantity separated by a comma.

  Example for Office world:

  ros2 run rmf_demos_tasks dispatch_delivery \
  -p pantry pantry \
  -ph coke_dispenser coke_dispenser_2 \
  -d hardware_2 coe \
  -dh coke_ingestor coke_ingestor_2 \
  -pp coke,1 coke,1 \
  -dp coke,1 coke,1 \
  --use_sim_time
  

• cancel_task Cancel a task by specifying its task ID:

  Example: Run dispatch a patrol task to the newly launched office_world.

  ros2 run rmf_demos_tasks dispatch_patrol -p coe lounge --use_sim_time
  

Then try cancel the submitted task with the id.

  ros2 run rmf_demos_tasks cancel_task -id patrol.dispatch-0
  

cancel_robot_task Cancel a task that is currently being executed on a specific robot

Example: Run dispatch a patrol task to the newly launched office_world.

  ros2 run rmf_demos_tasks dispatch_go_to_place -p pantry -F tinyRobot -R tinyRobot2 --use_sim_time
  

Then try cancel the submitted task with the id.

  ros2 run rmf_demos_tasks cancel_robot_task -F tinyRobot -R tinyRobot2
  

Additional Scripts

• office_teleop_robot This script demonstrates the capability of teleop perform action task. Imagine when the robot executes a teleop action, the user would like to move the robot around. To simulate this behaviour, we will show this scenario in office world.

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Changelog for package rmf_demos_tasks

2.7.0 (2025-06-09)

2.6.0 (2025-05-09)

• Dynamic events CLI scripts (#296)
• Adds a script to cancel the currently executing task on a specific robot. (#286)
• Introduce --estimate option to some task dispatch scripts (#287)
• Emergency signal script (#288)
• created .gitignore in rmf_demos_task for ignoring pycache files. (#281)
• Contributors: Arjo Chakravarty, Francesco Fallica, Grey, Jun

2.5.0 (2024-11-27)

• Add proto-reservation node as core part of RMF (#212)
• Fix existing style issues (#252)
• Add attach cart action (#225)
• Adding requester and request time for dispatch scripts (#240)
• Contributors: Aaron Chong, Arjo Chakravarty, Luca Della Vedova, Xiyu

2.4.0 (2024-06-12)

2.3.0 (2024-06-12)

• Port to harmonic (#206)
• Add script for sending any API request, read from a .json file (#222)
• Add a script for dispatching tasks from a json description (#215)
• Add all exec deps for rmf_demos_fleet_adapter (#211)
• Support one_of for go_to_place (#200)
• Update CI to rolling on main (#208)
• Support fleet-level task (#201)
• Contributors: Grey, Luca Della Vedova, Yadunund, cwrx777

2.2.3 (2023-12-20)

2.2.2 (2023-08-28)

• EasyFullControl integration with rmf_demos (#158)
• Contributors: Aaron Chong, Grey, Xiyu, Yadunund

2.2.1 (2023-08-10)

2.2.0 (2023-06-08)

2.1.0 (2023-06-06)

• Switch to rst changelogs (#182)
• Version updates from latest release synced to main (#167)
• Contributors: Esteban Martinena Guerrero, Yadunund

2.0.2 (2022-10-10)

2.0.1 (2022-09-29)

1.2.0 (2021-07-21)

• update all namings with rmf_demos as prefix (#1)
• Add priority selection in dispatch scripts and react ui (#5)
• Cleaning task demo in Airport terminal (#8)

1.1.0 (2020-09-24)

• Remove ament_python dependency. (#92)
• Contributors: Aaron Chong, Kevin_Skywalker, Michael X. Grey, Yadu, kevinskwk, mrushyendra

1.0.0 (2020-06-24)

• Provides scripts for sending [Loop]{.title-ref} and [Delivery]{.title-ref} task requests to [rmf_fleet_adapters]{.title-ref}
• Contributors: Aaron, Aaron Chong, Charayaphan Nakorn Boon Han, Geoffrey Biggs, Yadu, Yadunund