-
 

Package Summary

Tags No category tags.
Version 2.1.8
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 2024-06-14
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
  • Yadunund

Authors

No additional authors.

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

2.1.8 (2023-12-19)

  • Cancel automatic pending tasks that are removed during new assignments (#301)
  • Contributors: Aaron Chong

2.1.7 (2023-08-10)

  • Fix comparator for direct assignment ordering (#292)
  • Adding initiator and request time to booking (#284)
  • Contributors: Aaron Chong, Yadunund

2.1.6 (2023-06-02)

  • Fix race condition related to the finished callback of perform_action events: (#273)
  • Switch to rst changelogs (#276)
  • Contributors: Grey, Yadunund

2.1.5 (2023-05-20)

  • Reformat code to meet expectations of uncrustify-0.72.0: (#274)
  • Contributors: Yadunund

2.1.4 (2023-04-27)

2.1.3 (2023-04-26)

  • Fix emergency response for waiting robots: (#253)
  • Properly cleanup emergency pullover task: (#258)
  • Fix priority assignment when parsing tasks: (#265)
  • Link Threads to fix build errors on certain platforms: (#204)
  • Contributors: decada-robotics, Luca Della Vedova, Grey, Yadunund

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]{.title-ref} activity and use it in the `ResponsiveWait`: (#199)
  • Better support for patrol behaviors: (#205)
  • Allow [ResponsiveWait]{.title-ref} 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]{.title-ref} and [close_lanes]{.title-ref} 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: (#21)
    • The [rmf_fleet_adapter::agv]{.title-ref} component interacts with a dispatcher node over topics with [rmf_task]{.title-ref} prefix as specified in [rmf_fleet_adapter/StandardNames.hpp]{.title-ref}
    • Support for executing tasks at specified timepoints
    • Support for [Loop]{.title-ref}, [Delivery]{.title-ref}, [Clean]{.title-ref} and [ChargeBattery]{.title-ref} 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]{.title-ref} library
    • The [rmf_fleet_adapter::agv]{.title-ref} component can be used to develop a custom "Full Control" fleet adapter
    • [rmf_fleet_adapter/StandardNames.hpp]{.title-ref} specifies topic names that are used for RMF integration
  • Provides a prototype [read_only]{.title-ref} 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]{.title-ref}
  • Provides a deprecated [full_control]{.title-ref} 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]{.title-ref} 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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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 Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.2.7
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 iron
Last Updated 2024-11-14
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
  • Yadunund

Authors

No additional authors.

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

2.2.7 (2024-11-15)

  • Backport lift release fixes to Iron (#390)
  • Contributors: Grey

2.2.6 (2024-07-12)

  • Filter DoorOpen insertion by map name (#354)
  • Fix schema dictionary used during robot status override (#352)
  • Fix schema loading (#344)
  • Contributors: Grey

2.2.5 (2023-12-22)

  • Fix edge case when starting on a lane (#312)
  • Update [GoToPlace]{.title-ref} to allow finding nearest spot (#308)
  • Contributors: Arjo Chakravarty, Grey

2.2.4 (2023-12-15)

  • Mutex Groups, localization hook, dynamic charging, and new graph elements (#310)

2.2.3 (2023-09-20)

  • EasyFullControl API (#302)
  • Contributors: Luca Della Vedova, Michael X. Grey, Xiyu, Yadunund

2.2.2 (2023-09-11)

  • Improve linking time (#300)
  • Contributors: Grey, Luca Della Vedova, Yadunund

2.2.1 (2023-08-10)

  • Fix comparator for direct assignment ordering (#291)
  • Adding initiator and request time to booking (#285)
  • Contributors: Aaron Chong, Yadunund

2.2.0 (2023-06-06)

  • Fix race condition related to the finished callback of perform_action events: (#273)
  • Switch to rst changelogs (#276)
  • Contributors: Grey, Yadunund

2.1.5 (2023-05-20)

  • Reformat code to meet expectations of uncrustify-0.72.0: (#274)
  • Contributors: Yadunund

2.1.4 (2023-04-27)

2.1.3 (2023-04-26)

  • Fix emergency response for waiting robots: (#253)
  • Properly cleanup emergency pullover task: (#258)
  • Fix priority assignment when parsing tasks: (#265)
  • Link Threads to fix build errors on certain platforms: (#204)
  • Contributors: decada-robotics, Luca Della Vedova, Grey, Yadunund

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]{.title-ref} activity and use it in the `ResponsiveWait`: (#199)
  • Better support for patrol behaviors: (#205)
  • Allow [ResponsiveWait]{.title-ref} 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]{.title-ref} and [close_lanes]{.title-ref} 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: (#21)
    • The [rmf_fleet_adapter::agv]{.title-ref} component interacts with a dispatcher node over topics with [rmf_task]{.title-ref} prefix as specified in [rmf_fleet_adapter/StandardNames.hpp]{.title-ref}
    • Support for executing tasks at specified timepoints
    • Support for [Loop]{.title-ref}, [Delivery]{.title-ref}, [Clean]{.title-ref} and [ChargeBattery]{.title-ref} 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]{.title-ref} library
    • The [rmf_fleet_adapter::agv]{.title-ref} component can be used to develop a custom "Full Control" fleet adapter
    • [rmf_fleet_adapter/StandardNames.hpp]{.title-ref} specifies topic names that are used for RMF integration
  • Provides a prototype [read_only]{.title-ref} 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]{.title-ref}
  • Provides a deprecated [full_control]{.title-ref} 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]{.title-ref} 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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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 Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.7.2
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 jazzy
Last Updated 2024-06-17
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
  • Yadunund

Authors

No additional authors.

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

2.7.2 (2024-06-18)

2.7.1 (2024-06-11)

  • Fix charging status (#347)
  • Contributors: Grey

2.7.0 (2024-06-01)

  • Fix race condition for ingesting/dispensing and disable uncrustify tests by default (#362)
  • Event based lift / door logic (#320)
  • Filter DoorOpen insertion by map name (#353)
  • Fix schema dictionary used during robot status override (#349)
  • Add fleet-level reassign dispatched tasks API (#348)
  • Automatically begin or cancel idle behavior when commission changes (#346)
  • Disable automatic retreat (#330)
  • Manual release of mutex groups (#339)
  • Stabilize commissioning feature (#338)
  • Release other mutexes if robot started charging (#334)
  • Support labels in booking information (#328)
  • Fix interaction between emergency pullover and finishing task (#333)
  • Contributors: Aaron Chong, Grey, Luca Della Vedova, Xiyu, Yadunund

2.6.0 (2024-03-13)

  • Removes a line of dead code (#322)
  • include cstdint header (#331)
  • Add Backward-ROS for improved logging in event of segfaults (#327)
  • Explicitly specify all qos depth (#323)
  • Add support of fleet-level task (#317)
  • Fix minor logging error (#318)
  • Contributors: Arjo Chakravarty, Teo Koon Peng, Yadunund, cwrx777

2.5.0 (2023-12-22)

  • Fix edge case when starting on a lane (#312)
  • Update [GoToPlace]{.title-ref} to allow finding nearest spot (#308)
  • Contributors: Arjo Chakravarty, Grey

2.4.0 (2023-12-15)

  • Mutex Groups, localization hook, dynamic charging, and new graph elements (#310)

2.3.2 (2023-08-28)

  • Improve linking time (#297)
  • EasyFullControl API (#235)
  • Contributors: Grey, Luca Della Vedova, Xiyu, Yadunund

2.3.1 (2023-08-10)

  • Remove duplicate task schemas (#294)
  • Fix comparator for direct assignment ordering (#288)
  • Adding initiator and request time to booking (#267)
  • Contributors: Aaron Chong, Omar Hamza, Yadunund

2.3.0 (2023-06-08)

2.2.0 (2023-06-06)

  • Fix race condition related to the finished callback of perform_action events: (#273)
  • Switch to rst changelogs (#276)
  • Contributors: Grey, Yadunund

2.1.5 (2023-05-20)

  • Reformat code to meet expectations of uncrustify-0.72.0: (#274)
  • Contributors: Yadunund

2.1.4 (2023-04-27)

2.1.3 (2023-04-26)

  • Fix emergency response for waiting robots: (#253)
  • Properly cleanup emergency pullover task: (#258)
  • Fix priority assignment when parsing tasks: (#265)
  • Link Threads to fix build errors on certain platforms: (#204)
  • Contributors: decada-robotics, Luca Della Vedova, Grey, Yadunund

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]{.title-ref} activity and use it in the `ResponsiveWait`: (#199)
  • Better support for patrol behaviors: (#205)
  • Allow [ResponsiveWait]{.title-ref} 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]{.title-ref} and [close_lanes]{.title-ref} 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: (#21)
    • The [rmf_fleet_adapter::agv]{.title-ref} component interacts with a dispatcher node over topics with [rmf_task]{.title-ref} prefix as specified in [rmf_fleet_adapter/StandardNames.hpp]{.title-ref}
    • Support for executing tasks at specified timepoints
    • Support for [Loop]{.title-ref}, [Delivery]{.title-ref}, [Clean]{.title-ref} and [ChargeBattery]{.title-ref} 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]{.title-ref} library
    • The [rmf_fleet_adapter::agv]{.title-ref} component can be used to develop a custom "Full Control" fleet adapter
    • [rmf_fleet_adapter/StandardNames.hpp]{.title-ref} specifies topic names that are used for RMF integration
  • Provides a prototype [read_only]{.title-ref} 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]{.title-ref}
  • Provides a deprecated [full_control]{.title-ref} 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]{.title-ref} 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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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 Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.9.0
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 main
Last Updated 2024-11-27
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
  • Yadunund

Authors

No additional authors.

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

2.9.0 (2024-11-27)

  • Add reached API to read-only fleet adapter (#387)
  • Fix lift disruption issue (#393)
  • Allow automatic action cancellation to be toggled (#392)
  • Adds a simple parking spot management system. (#325)
  • Publish fleet and task updates over ROS 2 if websocket is not provided (#383)
  • Allow robot-specific finishing request and specify parking spots (#379)
  • Issue relocalization command if the robot is on the wrong map (#316)
  • set request_time in lift end session request. (#385)
  • Update _last_active_task_time if robot is executing task (#384)
  • Populate [Booking.Priority]{.title-ref}, added schema to validate [Priority]{.title-ref} (#381)
  • Emergency trigger to use transient local qos (#341)
  • Add a timeout before automatically releasing lift (#369)
  • Configure strict lanes (#367)
  • Only fail on_cancel deserializations when none of the activities are possible (#378)
  • Fix a minor typo in fleet adapter error log (#307)
  • Provide an API that says the robot's lift destination (#376)
  • Populate LiftProperties for Destination in localize callbacks (#373)
  • Revert "Event based lift / door logic (#320)" (#372)
  • Update with new RobotMode field (#345)
  • Quiet cancel API (#357)
  • Contributors: Aaron Chong, Arjo Chakravarty, Grey, Luca Della Vedova, Xiyu, cwrx777

2.8.0 (2024-06-12)

2.7.1 (2024-06-11)

  • Fix charging status (#347)
  • Contributors: Grey

2.7.0 (2024-06-01)

  • Fix race condition for ingesting/dispensing and disable uncrustify tests by default (#362)
  • Event based lift / door logic (#320)
  • Filter DoorOpen insertion by map name (#353)
  • Fix schema dictionary used during robot status override (#349)
  • Add fleet-level reassign dispatched tasks API (#348)
  • Automatically begin or cancel idle behavior when commission changes (#346)
  • Disable automatic retreat (#330)
  • Manual release of mutex groups (#339)
  • Stabilize commissioning feature (#338)
  • Release other mutexes if robot started charging (#334)
  • Support labels in booking information (#328)
  • Fix interaction between emergency pullover and finishing task (#333)
  • Contributors: Aaron Chong, Grey, Luca Della Vedova, Xiyu, Yadunund

2.6.0 (2024-03-13)

  • Removes a line of dead code (#322)
  • include cstdint header (#331)
  • Add Backward-ROS for improved logging in event of segfaults (#327)
  • Explicitly specify all qos depth (#323)
  • Add support of fleet-level task (#317)
  • Fix minor logging error (#318)
  • Contributors: Arjo Chakravarty, Teo Koon Peng, Yadunund, cwrx777

2.5.0 (2023-12-22)

  • Fix edge case when starting on a lane (#312)
  • Update [GoToPlace]{.title-ref} to allow finding nearest spot (#308)
  • Contributors: Arjo Chakravarty, Grey

2.4.0 (2023-12-15)

  • Mutex Groups, localization hook, dynamic charging, and new graph elements (#310)

2.3.2 (2023-08-28)

  • Improve linking time (#297)
  • EasyFullControl API (#235)
  • Contributors: Grey, Luca Della Vedova, Xiyu, Yadunund

2.3.1 (2023-08-10)

  • Remove duplicate task schemas (#294)
  • Fix comparator for direct assignment ordering (#288)
  • Adding initiator and request time to booking (#267)
  • Contributors: Aaron Chong, Omar Hamza, Yadunund

2.3.0 (2023-06-08)

2.2.0 (2023-06-06)

  • Fix race condition related to the finished callback of perform_action events: (#273)
  • Switch to rst changelogs (#276)
  • Contributors: Grey, Yadunund

2.1.5 (2023-05-20)

  • Reformat code to meet expectations of uncrustify-0.72.0: (#274)
  • Contributors: Yadunund

2.1.4 (2023-04-27)

2.1.3 (2023-04-26)

  • Fix emergency response for waiting robots: (#253)
  • Properly cleanup emergency pullover task: (#258)
  • Fix priority assignment when parsing tasks: (#265)
  • Link Threads to fix build errors on certain platforms: (#204)
  • Contributors: decada-robotics, Luca Della Vedova, Grey, Yadunund

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]{.title-ref} activity and use it in the `ResponsiveWait`: (#199)
  • Better support for patrol behaviors: (#205)
  • Allow [ResponsiveWait]{.title-ref} 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]{.title-ref} and [close_lanes]{.title-ref} 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: (#21)
    • The [rmf_fleet_adapter::agv]{.title-ref} component interacts with a dispatcher node over topics with [rmf_task]{.title-ref} prefix as specified in [rmf_fleet_adapter/StandardNames.hpp]{.title-ref}
    • Support for executing tasks at specified timepoints
    • Support for [Loop]{.title-ref}, [Delivery]{.title-ref}, [Clean]{.title-ref} and [ChargeBattery]{.title-ref} 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]{.title-ref} library
    • The [rmf_fleet_adapter::agv]{.title-ref} component can be used to develop a custom "Full Control" fleet adapter
    • [rmf_fleet_adapter/StandardNames.hpp]{.title-ref} specifies topic names that are used for RMF integration
  • Provides a prototype [read_only]{.title-ref} 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]{.title-ref}
  • Provides a deprecated [full_control]{.title-ref} 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]{.title-ref} 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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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 Robotics Stack Exchange

No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.

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 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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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 Robotics Stack Exchange

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 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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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 Robotics Stack Exchange

No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.