ROS Index
|
rmf_fleet_adapter package from rmf_ros2 repormf_fleet_adapter rmf_fleet_adapter_python rmf_task_ros2 rmf_traffic_ros2 rmf_websocket |
|
|
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
finishedcallback ofperform_actionevents: (#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.
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| rmf_demos | |
| rmf_fleet_adapter_python | |
| rmf_dev |
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
|
|
rmf_fleet_adapter package from rmf_ros2 repormf_charging_schedule rmf_fleet_adapter rmf_fleet_adapter_python rmf_task_ros2 rmf_traffic_ros2 rmf_websocket |
|
|
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
finishedcallback ofperform_actionevents: (#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.
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| rmf_demos | |
| rmf_fleet_adapter_python | |
| rmf_dev |
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
|
|
rmf_fleet_adapter package from rmf_ros2 repormf_charging_schedule rmf_fleet_adapter rmf_fleet_adapter_python rmf_task_ros2 rmf_traffic_ros2 rmf_websocket |
|
|
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
finishedcallback ofperform_actionevents: (#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.
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| rmf_demos | |
| rmf_fleet_adapter_python | |
| rmf_dev |
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
|
|
rmf_fleet_adapter package from rmf_ros2 repormf_charging_schedule rmf_fleet_adapter rmf_fleet_adapter_python rmf_reservation_node rmf_task_ros2 rmf_traffic_ros2 rmf_websocket |
|
|
Package Summary
| Tags | No category tags. |
| Version | 2.8.0 |
| 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 | 2024-11-12 |
| 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
- 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
2.8.0 (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
finishedcallback ofperform_actionevents: (#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.
Package Dependencies
System Dependencies
Dependant Packages
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.
|
|
rmf_fleet_adapter package from rmf_ros2 repormf_fleet_adapter rmf_fleet_adapter_python rmf_task_ros2 rmf_traffic_ros2 |
|
|
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_lanesandclose_lanesCLI tools for issuing requests
- Added
- 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::agvcomponent interacts with a dispatcher node over topics withrmf_taskprefix as specified inrmf_fleet_adapter/StandardNames.hpp - Support for executing tasks at specified timepoints
- Support for
Loop,Delivery,CleanandChargeBatterytasks
- The
- 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_adapterlibrary- The
rmf_fleet_adapter::agvcomponent can be used to develop a custom “Full Control” fleet adapter -
rmf_fleet_adapter/StandardNames.hppspecifies topic names that are used for RMF integration
- The
- Provides a prototype
read_onlyfleet 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_controlfleet 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::agvAPI
- 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.
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| rmf_demos | |
| rmf_fleet_adapter_python |
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 melodic. Known supported distros are highlighted in the buttons above.