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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

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Package Summary

Tags No category tags.
Version 2.1.8
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Internal ROS infrastructure for RMF
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/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

2.1.8 (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.

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