Agilex Fleet Client

Installation Instructions

Prerequisites

• Ubuntu 20.04 LTS
• ROS1 - Noetic

Install all non-ROS prerequisite packages,

sudo apt update && sudo apt install \
  git wget qt5-default \
  python3-rosdep \
  python3-vcstool \
  python3-colcon-common-extensions \
  # maven default-jdk   # Uncomment to install dependencies for message generation

Client in ROS 1

Start a new ROS 1 workspace, and pull in the necessary repositories,

mkdir -p ~/agx_fleet_ws/src
cd ~/agx_fleet_ws/src
git clone https://github.com/lagrangeluo/agx_fleet_client.git

Install all the dependencies through rosdep,

cd ~/agx_fleet_ws
rosdep install --from-paths src --ignore-src --rosdistro noetic -yr

Source ROS 1 and build,

cd ~/agx_fleet_ws
source /opt/ros/noetic/setup.bash
colcon build

roslaunch a client for navigation action server /move_base,

roslaunch agx_fleet_client_bringup agx_fleet_client.launch

attention: if your move base action server name is not "move_base", you should change the param of launch file as follows:

agx_fleet_client.launch:
    <param name="move_base_server_name" value="move_base"/>

if you want to specify robot name and fleet name, change param:

<arg name="agx_robot_prefix" value="limo_1"/> 
...
	<param name="fleet_name" type="string" value="agx_fleet"/>

the main branch is written for the default settings of move_base action server which belong to ros,the navis branch is developed for navis navigation stack which is developed by agilex's developers.

Examples

Test Client

This example emulates a running ROS 1 robot,

source ~/agx_fleet_ws/install/setup.bash
roslaunch agx_fleet_client_bringup fake_client.launch

ROS 1 Turtlebot3 Simulation

Before starting these examples, remember to install all the prerequisites according to the official tutorials of using Turtlebot3, under noetic.

sudo apt install ros-noetic-dwa-local-planner

Launch the basic simulation of a single Turtlebot3, with a free fleet client attached to it, by sourcing the ROS 1 workspace and launching the provided example launch file,

export TURTLEBOT3_MODEL=burger
roslaunch agx_fleet_client_sim simulation_fleet_client.launch

This launch file starts the simulation in gazebo, visualization in rviz, as well as the simulated navigation stack of the single turtlebot3. Once the simulation and visualization show up, the robot can be commanded as per normal through rviz with 2D Nav Goal.

If the server is already running, it should display that a new robot has been registered.

[INFO] [1636706001.275082185] [turtlebot3_fleet_server_node]: registered a new robot: [ros1_tb3_0]

Another way to check, is to listen in on the /fleet_states topic, using ros2 topic echo /fleet_states.

If you want to send request to robots,you can use the web tools developed by rmf developers:RMF_Pannel

Attention：The mult turtlebot simulation need to add some code to turtlebot_gazebo repository,it will not work if you don't do these changes.