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rmf_fleet_adapter package from rmf_ros2 repo

rmf_fleet_adapter rmf_fleet_adapter_python rmf_task_ros2 rmf_traffic_ros2 rmf_websocket

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.1.2
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/open-rmf/rmf_ros2.git
VCS Type git
VCS Version humble
Last Updated 2022-10-10
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Fleet Adapter package for RMF fleets.

Additional Links

No additional links.

Maintainers

  • Grey
  • Aaron
  • Marco A. Gutiérrez

Authors

No additional authors.
rmf_fleet_adapter/README.md

rmf_fleet_adapter package

This package contains the various fleet adapter nodes for different levels of control. Using specific messages from rmf_fleet_msgs, it communicates with proprietary fleet drivers and managers through ROS 2.

Quality Declaration

This package claims to be in the Quality Level 4 category. See the Quality Declaration for more details.

CHANGELOG

Changelog for package rmf_fleet_adapter

2.1.2 (2022-10-10)

2.1.0 (2022-10-03)

  • Add API to update speed limits for lanes: #217
  • Make async behaviors more robust: #228
  • Allow fleet adapters to change schedule participant profiles: #229
  • Allow robots to be decommissioned from the task dispatch system: #233
  • Allow manual toggling of stubborn negotiation: #196
  • Allow users to specify a custom update listener: #198
  • Introduce WaitUntil activity and use it in the ResponsiveWait: #199
  • Better support for patrol behaviors: #205
  • Allow ResponsiveWait to be enabled and disabled: #209
  • Publish the navigation graph of the fleet adapter: #207
  • Allow robot status to be overridden by the user: #191
  • Add API to report status for perform_action: #190
  • Add APIs for cancelling and killing tasks from the RobotUpdateHandle: #205
  • Add a WaitUntil event and use it for ResponsiveWait: #199

2.0.0 (2022-03-18)

  • Update to traffic dependency system: #188

1.5.0 (2022-02-14)

  • Support flexible task definitions #168
  • Add lane speed limit to graph parsing function #124
  • Support for geojson graphs #142

1.4.0 (2021-09-01)

  • Add read_only_blockade adapter: #110
  • Accommodate finishing tasks: #108
  • Check if lane request's fleet_name is equal to the fleet's fleet_name: #95
  • Find nearest waypoint among starts: #98

1.3.0 (2021-06-07)

  • Add API for opening and closing lanes: #15
    • Added open_lanes and close_lanes CLI tools for issuing requests
  • Allow Traffic Light APIs to update the location of a robot while it is idle: #270
  • Allow TrafficLight and EasyTrafficLight API to update battery level: #263
  • Migrating to a task dispatcher framework: #217
    • The rmf_fleet_adapter::agv component interacts with a dispatcher node over topics with rmf_task prefix as specified in rmf_fleet_adapter/StandardNames.hpp
    • Support for executing tasks at specified timepoints
    • Support for Loop, Delivery, Clean and ChargeBattery tasks
  • Introduce ResponsiveWait: #308
    • The new ResponsiveWait task phase can be used to have idle/waiting robots respond to schedule conflicts
    • Idle robots (robots that do not have an assigned task) will automatically enter ResponsiveWait mode

1.2.0 (2021-01-05)

  • Automatically publish fleet states from the fleet adapter API: #232
  • Easy Traffic Light API: #226
  • Gridlock-proof Traffic Light Implementation: #226

1.1.0 (2020-09-24)

  • Traffic Light API: #147 #176 #180
  • Allow fleet adapters to adjust the maximum delay: #148
  • Full Control Fleet Adapters respond to emergency alarm topic: #162
  • Migrating to ROS2 Foxy: #133
  • Contributors: Chen Bainian, Grey, Kevin_Skywalker, Marco A. Gutiérrez, Rushyendra Maganty, Yadu

1.0.2 (2020-07-27)

  • Always respond to negotiations: #138

1.0.1 (2020-07-20)

  • Interrupt dangling negotiation planning efforts to reduce memory usage: #130
  • Trim the amount of system memory that is committed to a fleet adapter after each task: #130

1.0.0 (2020-06-23)

  • Provides rmf_fleet_adapter library
    • The rmf_fleet_adapter::agv component can be used to develop a custom "Full Control" fleet adapter
    • rmf_fleet_adapter/StandardNames.hpp specifies topic names that are used for RMF integration
  • Provides a prototype read_only fleet adapter implementation
    • This will be deprecated in the future in favor of a C++ API
    • To use this fleet adapter, you must implement a "read-only fleet driver" to talk to the fleet adapter using rmf_fleet_msgs
  • Provides a deprecated full_control fleet adapter implementation
    • This is made to be backwards compatible with "full-control fleet drivers" that were developed in the early stages of RMF
    • New users should prefer to implement their own fleet adapter using the rmf_fleet_adapter::agv API
  • Uses rxcpp to make the fleet adapters reactive and multi-threaded
  • Has a known memory leak issue which will be resolved in a later release
  • Contributors: Aaron Chong, Charayaphan Nakorn Boon Han, Marco A. Gutiérrez, Grey, Yadu, Yadunund, koonpeng, methylDragon

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/robot_state_aggregator.composition.launch.xml
      • robot_prefix [default: ]
      • fleet_name
      • use_sim_time [default: false]
      • subns [default: yin]
      • buddy_subns [default: yang]
      • active_node [default: true]
      • verbose [default: true]
      • failover_mode [default: false]
  • launch/robot_state_aggregator.launch.xml
      • failover_mode [default: false]
      • robot_prefix [default: ]
      • fleet_name
      • use_sim_time [default: false]
      • verbose [default: false]
  • launch/fleet_adapter.launch.xml
      • use_sim_time [default: false]
      • control_type
      • fleet_name
      • nav_graph_file [default: ]
      • linear_velocity
      • angular_velocity
      • linear_acceleration
      • angular_acceleration
      • footprint_radius
      • vicinity_radius
      • delay_threshold [default: 10.0]
      • disable_delay_threshold [default: false]
      • retry_wait [default: 10.0]
      • discovery_timeout [default: 10.0]
      • reversible [default: true]
      • output [default: screen]
      • perform_loop [default: false]
      • perform_deliveries [default: false]
      • perform_cleaning [default: false]
      • finishing_request [default: nothing]
      • battery_voltage
      • battery_capacity
      • battery_charging_current
      • mass
      • inertia
      • friction_coefficient
      • ambient_power_drain
      • tool_power_drain
      • drain_battery [default: false]
      • recharge_threshold [default: 0.2]
      • recharge_soc [default: 1.0]
      • experimental_lift_watchdog_service [default: ]
      • enable_responsive_wait [default: true]
      • server_uri [default: ]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rmf_fleet_adapter at answers.ros.org

rmf_fleet_adapter package from rmf_ros2 repo

rmf_fleet_adapter rmf_fleet_adapter_python rmf_task_ros2 rmf_traffic_ros2

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/open-rmf/rmf_ros2.git
VCS Type git
VCS Version foxy
Last Updated 2021-09-02
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Fleet Adapter package for RMF fleets.

Additional Links

No additional links.

Maintainers

  • Grey
  • Aaron
  • Marco A. Gutiérrez

Authors

No additional authors.
rmf_fleet_adapter/README.md

rmf_fleet_adapter package

This package contains the various fleet adapter nodes for different levels of control. Using specific messages from rmf_fleet_msgs, it communicates with proprietary fleet drivers and managers through ROS 2.

Quality Declaration

This package claims to be in the Quality Level 4 category. See the Quality Declaration for more details.

CHANGELOG

Changelog for package rmf_fleet_adapter

1.4.0 (2021-09-01)

  • Add read_only_blockade adapter: #110
  • Accommodate finishing tasks: #108
  • Check if lane request's fleet_name is equal to the fleet's fleet_name: #95
  • Find nearest waypoint among starts: #98

1.3.0 (2021-06-07)

  • Add API for opening and closing lanes: #15
    • Added open_lanes and close_lanes CLI tools for issuing requests
  • Allow Traffic Light APIs to update the location of a robot while it is idle: #270
  • Allow TrafficLight and EasyTrafficLight API to update battery level: #263
  • Migrating to a task dispatcher framework: #217
    • The rmf_fleet_adapter::agv component interacts with a dispatcher node over topics with rmf_task prefix as specified in rmf_fleet_adapter/StandardNames.hpp
    • Support for executing tasks at specified timepoints
    • Support for Loop, Delivery, Clean and ChargeBattery tasks
  • Introduce ResponsiveWait: #308
    • The new ResponsiveWait task phase can be used to have idle/waiting robots respond to schedule conflicts
    • Idle robots (robots that do not have an assigned task) will automatically enter ResponsiveWait mode

1.2.0 (2021-01-05)

  • Automatically publish fleet states from the fleet adapter API: #232
  • Easy Traffic Light API: #226
  • Gridlock-proof Traffic Light Implementation: #226

1.1.0 (2020-09-24)

  • Traffic Light API: #147 #176 #180
  • Allow fleet adapters to adjust the maximum delay: #148
  • Full Control Fleet Adapters respond to emergency alarm topic: #162
  • Migrating to ROS2 Foxy: #133
  • Contributors: Chen Bainian, Grey, Kevin_Skywalker, Marco A. Gutiérrez, Rushyendra Maganty, Yadu

1.0.2 (2020-07-27)

  • Always respond to negotiations: #138

1.0.1 (2020-07-20)

  • Interrupt dangling negotiation planning efforts to reduce memory usage: #130
  • Trim the amount of system memory that is committed to a fleet adapter after each task: #130

1.0.0 (2020-06-23)

  • Provides rmf_fleet_adapter library
    • The rmf_fleet_adapter::agv component can be used to develop a custom "Full Control" fleet adapter
    • rmf_fleet_adapter/StandardNames.hpp specifies topic names that are used for RMF integration
  • Provides a prototype read_only fleet adapter implementation
    • This will be deprecated in the future in favor of a C++ API
    • To use this fleet adapter, you must implement a "read-only fleet driver" to talk to the fleet adapter using rmf_fleet_msgs
  • Provides a deprecated full_control fleet adapter implementation
    • This is made to be backwards compatible with "full-control fleet drivers" that were developed in the early stages of RMF
    • New users should prefer to implement their own fleet adapter using the rmf_fleet_adapter::agv API
  • Uses rxcpp to make the fleet adapters reactive and multi-threaded
  • Has a known memory leak issue which will be resolved in a later release
  • Contributors: Aaron Chong, Charayaphan Nakorn Boon Han, Marco A. Gutiérrez, Grey, Yadu, Yadunund, koonpeng, methylDragon

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/robot_state_aggregator.composition.launch.xml
      • robot_prefix [default: ]
      • fleet_name
      • use_sim_time [default: false]
      • subns [default: yin]
      • buddy_subns [default: yang]
      • active_node [default: true]
      • verbose [default: true]
      • failover_mode [default: false]
  • launch/robot_state_aggregator.launch.xml
      • failover_mode [default: false]
      • robot_prefix [default: ]
      • fleet_name
      • use_sim_time [default: false]
      • verbose [default: false]
  • launch/fleet_adapter.launch.xml
      • use_sim_time [default: false]
      • control_type
      • fleet_name
      • nav_graph_file [default: ]
      • linear_velocity
      • angular_velocity
      • linear_acceleration
      • angular_acceleration
      • footprint_radius
      • vicinity_radius
      • delay_threshold [default: 10.0]
      • disable_delay_threshold [default: false]
      • retry_wait [default: 10.0]
      • discovery_timeout [default: 10.0]
      • reversible [default: true]
      • output [default: screen]
      • perform_loop [default: false]
      • perform_deliveries [default: false]
      • perform_cleaning [default: false]
      • finishing_request [default: nothing]
      • battery_voltage
      • battery_capacity
      • battery_charging_current
      • mass
      • inertia
      • friction_coefficient
      • ambient_power_drain
      • tool_power_drain
      • drain_battery [default: false]
      • recharge_threshold [default: 0.2]
      • recharge_soc [default: 1.0]
      • experimental_lift_watchdog_service [default: ]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rmf_fleet_adapter at answers.ros.org

rmf_fleet_adapter package from rmf_ros2 repo

rmf_fleet_adapter rmf_fleet_adapter_python rmf_task_ros2 rmf_traffic_ros2 rmf_websocket

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.1.2
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/open-rmf/rmf_ros2.git
VCS Type git
VCS Version main
Last Updated 2022-12-12
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Fleet Adapter package for RMF fleets.

Additional Links

No additional links.

Maintainers

  • Grey
  • Aaron
  • Marco A. Gutiérrez

Authors

No additional authors.
rmf_fleet_adapter/README.md

rmf_fleet_adapter package

This package contains the various fleet adapter nodes for different levels of control. Using specific messages from rmf_fleet_msgs, it communicates with proprietary fleet drivers and managers through ROS 2.

Quality Declaration

This package claims to be in the Quality Level 4 category. See the Quality Declaration for more details.

CHANGELOG

Changelog for package rmf_fleet_adapter

2.1.2 (2022-10-10)

2.1.0 (2022-10-03)

  • Add API to update speed limits for lanes: #217
  • Make async behaviors more robust: #228
  • Allow fleet adapters to change schedule participant profiles: #229
  • Allow robots to be decommissioned from the task dispatch system: #233
  • Allow manual toggling of stubborn negotiation: #196
  • Allow users to specify a custom update listener: #198
  • Introduce WaitUntil activity and use it in the ResponsiveWait: #199
  • Better support for patrol behaviors: #205
  • Allow ResponsiveWait to be enabled and disabled: #209
  • Publish the navigation graph of the fleet adapter: #207
  • Allow robot status to be overridden by the user: #191
  • Add API to report status for perform_action: #190
  • Add APIs for cancelling and killing tasks from the RobotUpdateHandle: #205
  • Add a WaitUntil event and use it for ResponsiveWait: #199

2.0.0 (2022-03-18)

  • Update to traffic dependency system: #188

1.5.0 (2022-02-14)

  • Support flexible task definitions #168
  • Add lane speed limit to graph parsing function #124
  • Support for geojson graphs #142

1.4.0 (2021-09-01)

  • Add read_only_blockade adapter: #110
  • Accommodate finishing tasks: #108
  • Check if lane request's fleet_name is equal to the fleet's fleet_name: #95
  • Find nearest waypoint among starts: #98

1.3.0 (2021-06-07)

  • Add API for opening and closing lanes: #15
    • Added open_lanes and close_lanes CLI tools for issuing requests
  • Allow Traffic Light APIs to update the location of a robot while it is idle: #270
  • Allow TrafficLight and EasyTrafficLight API to update battery level: #263
  • Migrating to a task dispatcher framework: #217
    • The rmf_fleet_adapter::agv component interacts with a dispatcher node over topics with rmf_task prefix as specified in rmf_fleet_adapter/StandardNames.hpp
    • Support for executing tasks at specified timepoints
    • Support for Loop, Delivery, Clean and ChargeBattery tasks
  • Introduce ResponsiveWait: #308
    • The new ResponsiveWait task phase can be used to have idle/waiting robots respond to schedule conflicts
    • Idle robots (robots that do not have an assigned task) will automatically enter ResponsiveWait mode

1.2.0 (2021-01-05)

  • Automatically publish fleet states from the fleet adapter API: #232
  • Easy Traffic Light API: #226
  • Gridlock-proof Traffic Light Implementation: #226

1.1.0 (2020-09-24)

  • Traffic Light API: #147 #176 #180
  • Allow fleet adapters to adjust the maximum delay: #148
  • Full Control Fleet Adapters respond to emergency alarm topic: #162
  • Migrating to ROS2 Foxy: #133
  • Contributors: Chen Bainian, Grey, Kevin_Skywalker, Marco A. Gutiérrez, Rushyendra Maganty, Yadu

1.0.2 (2020-07-27)

  • Always respond to negotiations: #138

1.0.1 (2020-07-20)

  • Interrupt dangling negotiation planning efforts to reduce memory usage: #130
  • Trim the amount of system memory that is committed to a fleet adapter after each task: #130

1.0.0 (2020-06-23)

  • Provides rmf_fleet_adapter library
    • The rmf_fleet_adapter::agv component can be used to develop a custom "Full Control" fleet adapter
    • rmf_fleet_adapter/StandardNames.hpp specifies topic names that are used for RMF integration
  • Provides a prototype read_only fleet adapter implementation
    • This will be deprecated in the future in favor of a C++ API
    • To use this fleet adapter, you must implement a "read-only fleet driver" to talk to the fleet adapter using rmf_fleet_msgs
  • Provides a deprecated full_control fleet adapter implementation
    • This is made to be backwards compatible with "full-control fleet drivers" that were developed in the early stages of RMF
    • New users should prefer to implement their own fleet adapter using the rmf_fleet_adapter::agv API
  • Uses rxcpp to make the fleet adapters reactive and multi-threaded
  • Has a known memory leak issue which will be resolved in a later release
  • Contributors: Aaron Chong, Charayaphan Nakorn Boon Han, Marco A. Gutiérrez, Grey, Yadu, Yadunund, koonpeng, methylDragon

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/robot_state_aggregator.composition.launch.xml
      • robot_prefix [default: ]
      • fleet_name
      • use_sim_time [default: false]
      • subns [default: yin]
      • buddy_subns [default: yang]
      • active_node [default: true]
      • verbose [default: true]
      • failover_mode [default: false]
  • launch/robot_state_aggregator.launch.xml
      • failover_mode [default: false]
      • robot_prefix [default: ]
      • fleet_name
      • use_sim_time [default: false]
      • verbose [default: false]
  • launch/fleet_adapter.launch.xml
      • use_sim_time [default: false]
      • control_type
      • fleet_name
      • nav_graph_file [default: ]
      • linear_velocity
      • angular_velocity
      • linear_acceleration
      • angular_acceleration
      • footprint_radius
      • vicinity_radius
      • delay_threshold [default: 10.0]
      • disable_delay_threshold [default: false]
      • retry_wait [default: 10.0]
      • discovery_timeout [default: 10.0]
      • reversible [default: true]
      • output [default: screen]
      • perform_loop [default: false]
      • perform_deliveries [default: false]
      • perform_cleaning [default: false]
      • finishing_request [default: nothing]
      • battery_voltage
      • battery_capacity
      • battery_charging_current
      • mass
      • inertia
      • friction_coefficient
      • ambient_power_drain
      • tool_power_drain
      • drain_battery [default: false]
      • recharge_threshold [default: 0.2]
      • recharge_soc [default: 1.0]
      • experimental_lift_watchdog_service [default: ]
      • enable_responsive_wait [default: true]
      • server_uri [default: ]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rmf_fleet_adapter at answers.ros.org

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rmf_fleet_adapter package from rmf_ros2 repo

rmf_fleet_adapter rmf_fleet_adapter_python rmf_task_ros2 rmf_traffic_ros2

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/open-rmf/rmf_ros2.git
VCS Type git
VCS Version galactic
Last Updated 2021-09-02
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Fleet Adapter package for RMF fleets.

Additional Links

No additional links.

Maintainers

  • Grey
  • Aaron
  • Marco A. Gutiérrez

Authors

No additional authors.
rmf_fleet_adapter/README.md

rmf_fleet_adapter package

This package contains the various fleet adapter nodes for different levels of control. Using specific messages from rmf_fleet_msgs, it communicates with proprietary fleet drivers and managers through ROS 2.

Quality Declaration

This package claims to be in the Quality Level 4 category. See the Quality Declaration for more details.

CHANGELOG

Changelog for package rmf_fleet_adapter

1.4.0 (2021-09-01)

  • Add read_only_blockade adapter: #110
  • Accommodate finishing tasks: #108
  • Check if lane request's fleet_name is equal to the fleet's fleet_name: #95
  • Find nearest waypoint among starts: #98

1.3.0 (2021-06-07)

  • Add API for opening and closing lanes: #15
    • Added open_lanes and close_lanes CLI tools for issuing requests
  • Allow Traffic Light APIs to update the location of a robot while it is idle: #270
  • Allow TrafficLight and EasyTrafficLight API to update battery level: #263
  • Migrating to a task dispatcher framework: #217
    • The rmf_fleet_adapter::agv component interacts with a dispatcher node over topics with rmf_task prefix as specified in rmf_fleet_adapter/StandardNames.hpp
    • Support for executing tasks at specified timepoints
    • Support for Loop, Delivery, Clean and ChargeBattery tasks
  • Introduce ResponsiveWait: #308
    • The new ResponsiveWait task phase can be used to have idle/waiting robots respond to schedule conflicts
    • Idle robots (robots that do not have an assigned task) will automatically enter ResponsiveWait mode

1.2.0 (2021-01-05)

  • Automatically publish fleet states from the fleet adapter API: #232
  • Easy Traffic Light API: #226
  • Gridlock-proof Traffic Light Implementation: #226

1.1.0 (2020-09-24)

  • Traffic Light API: #147 #176 #180
  • Allow fleet adapters to adjust the maximum delay: #148
  • Full Control Fleet Adapters respond to emergency alarm topic: #162
  • Migrating to ROS2 Foxy: #133
  • Contributors: Chen Bainian, Grey, Kevin_Skywalker, Marco A. Gutiérrez, Rushyendra Maganty, Yadu

1.0.2 (2020-07-27)

  • Always respond to negotiations: #138

1.0.1 (2020-07-20)

  • Interrupt dangling negotiation planning efforts to reduce memory usage: #130
  • Trim the amount of system memory that is committed to a fleet adapter after each task: #130

1.0.0 (2020-06-23)

  • Provides rmf_fleet_adapter library
    • The rmf_fleet_adapter::agv component can be used to develop a custom "Full Control" fleet adapter
    • rmf_fleet_adapter/StandardNames.hpp specifies topic names that are used for RMF integration
  • Provides a prototype read_only fleet adapter implementation
    • This will be deprecated in the future in favor of a C++ API
    • To use this fleet adapter, you must implement a "read-only fleet driver" to talk to the fleet adapter using rmf_fleet_msgs
  • Provides a deprecated full_control fleet adapter implementation
    • This is made to be backwards compatible with "full-control fleet drivers" that were developed in the early stages of RMF
    • New users should prefer to implement their own fleet adapter using the rmf_fleet_adapter::agv API
  • Uses rxcpp to make the fleet adapters reactive and multi-threaded
  • Has a known memory leak issue which will be resolved in a later release
  • Contributors: Aaron Chong, Charayaphan Nakorn Boon Han, Marco A. Gutiérrez, Grey, Yadu, Yadunund, koonpeng, methylDragon

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/robot_state_aggregator.composition.launch.xml
      • robot_prefix [default: ]
      • fleet_name
      • use_sim_time [default: false]
      • subns [default: yin]
      • buddy_subns [default: yang]
      • active_node [default: true]
      • verbose [default: true]
      • failover_mode [default: false]
  • launch/robot_state_aggregator.launch.xml
      • failover_mode [default: false]
      • robot_prefix [default: ]
      • fleet_name
      • use_sim_time [default: false]
      • verbose [default: false]
  • launch/fleet_adapter.launch.xml
      • use_sim_time [default: false]
      • control_type
      • fleet_name
      • nav_graph_file [default: ]
      • linear_velocity
      • angular_velocity
      • linear_acceleration
      • angular_acceleration
      • footprint_radius
      • vicinity_radius
      • delay_threshold [default: 10.0]
      • disable_delay_threshold [default: false]
      • retry_wait [default: 10.0]
      • discovery_timeout [default: 10.0]
      • reversible [default: true]
      • output [default: screen]
      • perform_loop [default: false]
      • perform_deliveries [default: false]
      • perform_cleaning [default: false]
      • finishing_request [default: nothing]
      • battery_voltage
      • battery_capacity
      • battery_charging_current
      • mass
      • inertia
      • friction_coefficient
      • ambient_power_drain
      • tool_power_drain
      • drain_battery [default: false]
      • recharge_threshold [default: 0.2]
      • recharge_soc [default: 1.0]
      • experimental_lift_watchdog_service [default: ]

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Services

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Plugins

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