Agx Fleet Manager

Installation Instructions

Prerequisites

• Ubuntu 20.04 LTS
• ROS2 - Galactic

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 and Server in ROS 2

Start a new ROS 2 workspace, and pull in the necessary repositories,

mkdir -p ~/agx_fleet_ros2_ws/src
cd ~/agx_fleet_ros2_ws/src
git clone https://github.com/lagrangeluo/agx_fleet_client.git

Install all the dependencies through rosdep,

cd ~/agx_fleet_ros2_ws
rosdep install --from-paths src --ignore-src --rosdistro galactic -yr

Source ROS 2 and build,

cd ~/agx_fleet_ros2_ws
source /opt/ros/galactic/setup.bash
colcon build

# Optionally use the command below to only build the relevant packages,
# colcon build --packages-up-to \
#     free_fleet ff_examples_ros2 free_fleet_server_ros2 free_fleet_client_ros2

Examples

Client

This repository also has client code which is used in ros2, this example emulates a running ROS 2 robot,

source ~/agx_fleet_ros2_ws/install/setup.bash
ros2 launch agx_fleet_manager fake_client.launch.xml

The clients will then start subscribing to all the necessary topics, and start publishing robot states over DDS to the server. Start the server using

source ~/agx_fleet_ros2_ws/install/setup.bash
ros2 launch ff_examples_ros2 fake_server.launch.xml

# Verify that the server registers the fake clients
# [INFO] [1636706176.184055177] [fake_server_node]: registered a new robot: [fake_ros1_robot]
# [INFO] [1636706176.184055177] [fake_server_node]: registered a new robot: [fake_ros2_robot]

ROS 2 messages over the /fleet_states topic can also be used to verify that the clients are registered,

source ~/agx_fleet_ros2_ws/install/setup.bash
ros2 topic echo /fleet_states

Fleet Server

This launches a fake server for a fleet of robots, use this to test DDS communication.

source ~/ff_ros2_ws/install/setup.bash
ros2 launch agx_fleet_ros2_ws fake_server.launch.xml

At this point, the server should register any clients running, if any of the simulations below are running.

use command to launch a servcer for agx fleet.

ros2 launch agx_fleet_ros2_ws agx_fleet_server.launch

Commands and Requests

Now the fun begins! There are 3 types of commands/requests that can be sent to the simulated robots through free_fleet,

Destination requests

which allows single destination commands for the robots,

ros2 run agx_fleet_manager send_destination_request.py -f FLEET_NAME -r ROBOT_NAME -x 1.725 -y -0.39 --yaw 0.0 -i UNIQUE_TASK_ID

for example:

ros2 run agx_fleet_manager send_destination_request.py -f agx_fleet -r limo_1 -x 1.71 -y -1.28 --yaw -0.83 -i UNIQUE_TASK_ID

Path requests

which requests that the robot perform a string of destination commands,

ros2 run ff_examples_ros2 send_path_request.py -f FLEET_NAME -r ROBOT_NAME -i UNIQUE_TASK_ID -p '[{"x": 1.725, "y": -0.39, "yaw": 0.0, "level_name": "B1"}, {"x": 1.737, "y": 0.951, "yaw": 1.57, "level_name": "B1"}, {"x": -0.616, "y": 1.852, "yaw": 3.14, "level_name": "B1"}, {"x": -0.626, "y": -1.972, "yaw": 4.71, "level_name": "B1"}]'

Note that the task IDs need to be unique, if a request is sent using a previously used task ID, the request will be ignored by the free fleet clients.

RMF Pannel

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

ROS 2 Turtlebot3 Simulation

TODO...