rmf_simulation

This repository contains simulation plugins used in Open-RMF. It currently supports Gazebo Classic 11 and Gazebo Fortress.

Simulation plugins are split in Building simulation and Robot simulation plugins

Building Simulation

Building simulation plugins are located under rmf_building_sim_* and used to simulate different aspect of buildings such as doors, lifts and crowds (currently through the Menge library). Utility plugins to help with simulation, such as UI widgets to toggle battery consumption and set charging behavior, as well as toggling floor visibility, are also placed in this category.

Door plugin

The door plugin is a model plugin that can be attached to door models to make them interface with Open-RMF. It adds a publisher for door state and a subscription to door requests. An example SDF snippet is below:

<plugin name="door" filename="libdoor.so">
  <v_max_door>0.5</v_max_door>
  <a_max_door>0.3</a_max_door>
  <a_nom_door>0.15</a_nom_door>
  <dx_min_door>0.01</dx_min_door>
  <f_max_door>500.0</f_max_door>
  <door name="main_door" type="DoubleSwingDoor" left_joint_name="left_joint" right_joint_name="right_joint" />
</plugin>

Where:

• v_max_door is the maximum velocity of the door joints.
• a_max_door is the maximum acceleration of the door joints.
• a_nom_door is the nominal acceleration that the door controller will aim for when opening / closing doors.
• dx_min_door is the threshold used to determine whether the door is open, closed or moving. Specifically if all the door joints are within dx_min_door of their closed position the door will be considered closed, if they are within dx_min_door of their open position the door will be considered closed, otherwise it will be considered moving.
• f_max_door is the maximum effort for the physics simulation.
• door is a child element with a series of child attributes:
  • name is the name of the door, as seen by Open-RMF.
  • type is a string that describes the door type, supported door types can be found in rmf_building_map_tools repo.
  • left_joint_name and right_joint_name are the names of the left and right joint for the door, for double doors both are expected to be names of joints in the model, for single doors one of them can be empty or set to empty_joint to make the simulation plugin ignore it.

Lift plugin

The lift plugin is a model plugin that can be attached to lifts to make them interface with Open-RMF. It adds a publisher for lift state and a subscription to lift requests. An example SDF snippet is below:

<plugin name="lift" filename="liblift.so">
  <lift_name>lift_1</lift_name>
  <floor name="L1" elevation="0.0">
    <door_pair cabin_door="CabinDoor_lift_1_lift_1_door" shaft_door="ShaftDoor_lift_1_L1_lift_1_door" />
  </floor>
  <floor name="L2" elevation="10.0">
    <door_pair cabin_door="CabinDoor_lift_1_lift_1_door" shaft_door="ShaftDoor_lift_1_L2_lift_1_door" />
  </floor>
  <initial_floor>L1</initial_floor>
  <v_max_cabin>2.0</v_max_cabin>
  <a_max_cabin>1.2</a_max_cabin>
  <a_nom_cabin>1.0</a_nom_cabin>
  <dx_min_cabin>0.001</dx_min_cabin>
  <f_max_cabin>25323.0</f_max_cabin>
  <cabin_joint_name>cabin_joint</cabin_joint_name>
</plugin>

Where:

• lift_name is the name of the lift, as seen by Open-RMF.
• floor describes a floor, there can be any amount of floor elements with:
  • name attribute with the name of the floor, as seen by Open-RMF.
  • elevation attribute with the height in meters of the floor, relative to the ground plane.
  • door_pair child element with a cabin_door attribute to specify which cabin door should open at this floor and a shaft_door attribute to specify which shaft door should open. These names should match the names of doors in the world file.
• initial_floor The floor that the lift should start at.
• v_max_cabin, a_max_cabin, a_nom_cabin, dx_min_cabin and f_max_cabin are motion parameters with the same meaning as the ones in the door plugin.
• cabin_joint_name is the name of the main joint of the cabin, which is the one to be actuated vertically.

Crowd simulation

Crowd simulation configuration is added as a world plugin and is more complex and autogenerated, for an in depth description check the documentation here

Toggle charging

Toggle charging is a world plugin, added by default to all Open-RMF worlds that adds a GUI to toggle charging behaviors, such as enabling / disabling battery consumption or setting chargers to instantly refill the robot battery to reduce idle time in simulations.

It is added with the following snippet:

<plugin name="toggle_charging" filename="libtoggle_charging.so" />

Toggle floors

Toggle charging is a world plugin, added by default to all Open-RMF worlds, that adds a GUI plugin with buttons to enable / disable visibility of specific floors, to make visualization of intermediate floors easier.

An example SDF snippet:

```xml

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