roscon_door_adapter

Door adapter for the roscon workshop

API Endpoints

This door adapter integration relies on a door manager and a door adapter:

• The door manager comprises of specific endpoints that help relay commands to the simulated doors. It communicates with the doors over internal ROS 2 messages, while interfacing with the adapter via an API chosen by the user. For this demo door adapter implementation, we are using REST API with FastAPI framework.
• The door adapter receives commands from RMF and interfaces with the door manager to receive door state information, as well as query for available doors and send commands to open or close.

To interact with endpoints, launch the demo and then visit http://127.0.0.1:5002/docs in your browser.

1. Get Door Names

Get a list of the door names being managed by this adapter. This endpoint does not require a Request Body.

Request URL: http://127.0.0.1:5002/open-rmf/demo-door/door_names

Response Body:

{
  "data": {
    "door_names": [
      "main_door_left",
      "green_room_door",
      "main_door_right"
    ]
  },
  "success": true,
  "msg": ""
}

2. Get Door State

Gets the state of the door with the specified name. This endpoint only requires a door_name query parameter.

Request URL: http://127.0.0.1:5002/open-rmf/demo-door/door_state?door_name=door

Response Body:

{
  "data": {
    "current_mode": 0
  },
  "success": true,
  "msg": ""
}

3. Send Door Request

The door_request endpoint allows the door adapter to send requests to a specified door. This endpoint requires a Request Body and a door_name query parameter.

Request URL: http://127.0.0.1:5002/open-rmf/demo-door/door_request?door_name=door

Request Body:

{
  "requested_mode": 0
}

Response Body:

{
  "data": {},
  "success": true,
  "msg": ""
}