RMF Demos

The Open Robotics Middleware Framework (Open-RMF) enables interoperability among heterogeneous robot fleets while managing robot traffic that share resources such as space, building infrastructure systems (lifts, doors, etc) and other automation systems within the same facility. Open-RMF also handles task allocation and conflict resolution among its participants (de-conflicting traffic lanes and other resources). These capabilities are provided by various libraries in Open-RMF. For more details about Open RMF, refer to the comprehensive documentation provided here.

This repository contains demonstrations of the above mentioned capabilities of RMF. It serves as a starting point for working and integrating with Open-RMF.

You can also find a nice demonstration of Open-RMF using Nav2 and MoveIt! built into the Ionic Release Demo.

(Click to watch video)

System Requirements

These demos were built and tested on

• Ubuntu 24.04 LTS

• ROS 2 - Rolling

• Gazebo Ionic

  Note: The main branches of the core RMF libraries are fully supported on ROS 2 Humble, Iron, and Jazzy as well, but you will need to use the distro-specific branches for rmf_traffic_editor and rmf_simulation.

  You can use rmf_demos with any ROS distro by explicitly setting the gazebo_version:=# launch parameter, replacing # with the appropriate version of Gazebo for that ROS distro, e.g. 8 for Jazzy.

Installation

Instructions can be found here.

FAQ

Answers to frequently asked questions can be found here.

Roadmap

A near-term roadmap of the Open-RMF project can be found in the user manual here.

RMF-Web quick start

Full web application of Open-RMF: rmf-web.

Start the backend API server via docker with host network access, using the default configuration. The API server will be accessible at localhost:8000 by default.

docker run \
  --network host \
  -it \
  -e ROS_DOMAIN_ID=<ROS_DOMAIN_ID> \
  -e RMW_IMPLEMENTATION=<RMW_IMPLEMENTATION> \
  ghcr.io/open-rmf/rmf-web/api-server:latest

Note: The API server is also configurable by mounting the configuration file and setting the environment variable RMF_API_SERVER_CONFIG. In the default configuration, the API serer will use an internal non-persistent database.

Start the frontend dashboard via docker with host network access, using the default configuration. The dashboard will be accessible at localhost:3000 by default.

docker run \
  --network host \
  -it \
  ghcr.io/open-rmf/rmf-web/dashboard:latest

Note: The dashboard via docker is not runtime-configurable and is best used for quick integrations and testing. To configure the dashboard, check out rmf-web-dashboard-resources and the dashboard configuration section.

In order to interact with the default configuration of the web application, the server_uri launch parameter will need to be changed to ws://localhost:8000/_internal, for example,

ros2 launch rmf_demos_gz office.launch.xml server_uri:="ws://localhost:8000/_internal"

By specifying server_uri, the fleetadapter will update rmf-web api-server with the latest task and robot states. User can then monitor on-going states and initiate rmf task with an interactive web dashboard.

Demo Worlds

• Hotel World
• Office World
• Airport Terminal World
• Clinic World
• Campus World
• Manufacturing & Logistics World

Hotel World

This hotel world consists of a lobby and 2 guest levels. The hotel has two lifts, multiple doors and 3 robot fleets (4 robots). This demonstrates an integration of multiple fleets of robots with varying capabilities working together in a multi-level building.

Demo Scenario

To launch the world and the schedule visualizer,

```bash source ~/rmf_ws/install/setup.bash ros2 launch rmf_demos_gz hotel.launch.xml

File truncated at 100 lines see the full file

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