RMF

The OpenRMF platform for multi-fleet robot management.

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Install ROS 2 Foxy

First, please follow the installation instructions for ROS 2 Foxy. If you are on an Ubuntu 20.04 LTS machine (as recommended), here is the binary install page for ROS 2 Foxy on Ubuntu 20.04

Install rosdep

rosdep helps install dependencies for ROS packages across various distros. It can be installed with:

sudo apt install python3-rosdep
sudo rosdep init
rosdep update

Additional Dependencies

Setup your computer to accept Gazebo packages from packages.osrfoundation.org.

sudo apt update
sudo apt install -y wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

Install all non-ROS dependencies of RMF packages,

sudo apt update && sudo apt install \
  git cmake python3-vcstool curl \
  qt5-default \
  python3-shapely python3-yaml python3-requests python3-flask-cors \
  -y
python3 -m pip install flask-socketio
sudo apt-get install python3-colcon*

Download the source code

Setup a new ROS 2 workspace and pull in the demo repositories using vcs,

mkdir -p ~/rmf_ws/src
cd ~/rmf_ws
wget https://raw.githubusercontent.com/open-rmf/rmf/main/rmf.repos
vcs import src < rmf.repos

Ensure all ROS 2 prerequisites are fulfilled,

cd ~/rmf_ws
rosdep install --from-paths src --ignore-src --rosdistro foxy -yr

Compiling Instructions

On Ubuntu 20.04:

cd ~/rmf_ws
source /opt/ros/foxy/setup.bash
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

NOTE: The first time the build occurs, many simulation models will be downloaded from Ignition Fuel to populate the scene when the simulation is run. As a result, the first build can take a very long time depending on the server load and your Internet connection (for example, 60 minutes). The models required for each of the demo worlds will be automatically downloaded into ~/.gazebo/models from Ignition Fuel when building the package rmf_demo_maps. If you notice something wrong with the models in the simulation, your ~/.gazebo/models path might contain deprecated models not from Fuel. An easy way to solve this is to remove all models except for sun and ground_plane from ~/.gazebo/models, and perform a clean rebuild of the package rmf_demo_maps.

Run RMF Demos

Demonstrations of RMF is shown in rmf_demos

Docker Containers

Alternatively, you can run RMF Demos by using docker.

Pull docker image from opern-rm/rmf github registry (setup refer here).

docker pull docker.pkg.github.com/open-rmf/rmf/rmf_demos:latest
docker tag docker.pkg.github.com/open-rmf/rmf/rmf_demos:latest rmf:latest

Run it!

docker run -it --network host rmf:latest bash -c "export ROS_DOMAIN_ID=9; ros2 launch rmf_demos office.launch.xml headless:=1"

This will run rmf_demos in headless mode. Open localhost:5000 with a browser to start a task.

(Experimental) User can also run rmf_demos in “non-headless” graphical form, via rocker.