rmf_fleet_adapter package

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 finished callback of perform_action events: (#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

Deps	Name
	ament_cmake
	ament_cmake_catch2
	ament_cmake_uncrustify
	rclcpp
	rclcpp_components
	rmf_utils
	rmf_door_msgs
	rmf_ingestor_msgs
	rmf_dispenser_msgs
	rmf_fleet_msgs
	rmf_lift_msgs
	rmf_task_msgs
	rmf_traffic
	rmf_traffic_ros2
	rmf_task_ros2
	rmf_battery
	rmf_task
	rmf_task_sequence
	std_msgs
	rmf_api_msgs
	rmf_building_map_msgs
	stubborn_buddies
	stubborn_buddies_msgs
	rmf_websocket
	nlohmann_json_schema_validator_vendor

System Dependencies

Name
eigen
yaml-cpp
nlohmann-json-dev

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 repo

rmf_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 finished callback of perform_action events: (#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

Deps	Name
	ament_cmake
	ament_cmake_catch2
	ament_cmake_uncrustify
	rclcpp
	rclcpp_components
	rmf_utils
	rmf_door_msgs
	rmf_ingestor_msgs
	rmf_dispenser_msgs
	rmf_fleet_msgs
	rmf_lift_msgs
	rmf_task_msgs
	rmf_traffic
	rmf_traffic_ros2
	rmf_task_ros2
	rmf_battery
	rmf_task
	rmf_task_sequence
	std_msgs
	rmf_api_msgs
	rmf_building_map_msgs
	stubborn_buddies
	stubborn_buddies_msgs
	rmf_websocket
	nlohmann_json_schema_validator_vendor

System Dependencies

Name
eigen
yaml-cpp
nlohmann-json-dev

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 repo

rmf_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 finished callback of perform_action events: (#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

Deps	Name
	ament_cmake
	ament_cmake_catch2
	ament_cmake_uncrustify
	backward_ros
	nlohmann_json_schema_validator_vendor
	rclcpp_components
	rclcpp
	rmf_api_msgs
	rmf_battery
	rmf_building_map_msgs
	rmf_dispenser_msgs
	rmf_door_msgs
	rmf_fleet_msgs
	rmf_ingestor_msgs
	rmf_lift_msgs
	rmf_task_msgs
	rmf_task_ros2
	rmf_task_sequence
	rmf_task
	rmf_traffic_ros2
	rmf_traffic
	rmf_utils
	rmf_websocket
	std_msgs
	stubborn_buddies_msgs
	stubborn_buddies

System Dependencies

Name
eigen
yaml-cpp
nlohmann-json-dev

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 repo

rmf_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 finished callback of perform_action events: (#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

Deps	Name
	ament_cmake
	ament_cmake_catch2
	ament_cmake_uncrustify
	backward_ros
	nlohmann_json_schema_validator_vendor
	rclcpp_components
	rclcpp
	rmf_api_msgs
	rmf_battery
	rmf_building_map_msgs
	rmf_reservation_msgs
	rmf_dispenser_msgs
	rmf_door_msgs
	rmf_fleet_msgs
	rmf_ingestor_msgs
	rmf_lift_msgs
	rmf_task_msgs
	rmf_task_ros2
	rmf_task_sequence
	rmf_task
	rmf_traffic_ros2
	rmf_traffic
	rmf_utils
	rmf_websocket
	std_msgs
	stubborn_buddies_msgs
	stubborn_buddies

System Dependencies

Name
eigen
yaml-cpp
nlohmann-json-dev

Dependant Packages

Name	Deps
rmf_demos
rmf_fleet_adapter_python
rmf_reservation_node
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

No version for distro noetic. Known supported distros are highlighted in the buttons above.

No version for distro ardent. Known supported distros are highlighted in the buttons above.

No version for distro bouncy. Known supported distros are highlighted in the buttons above.

No version for distro crystal. Known supported distros are highlighted in the buttons above.

No version for distro eloquent. Known supported distros are highlighted in the buttons above.

No version for distro dashing. Known supported distros are highlighted in the buttons above.

rmf_fleet_adapter package from rmf_ros2 repo

rmf_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_lanes and close_lanes 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: #217
- The rmf_fleet_adapter::agv component interacts with a dispatcher node over topics with rmf_task prefix as specified in rmf_fleet_adapter/StandardNames.hpp
- Support for executing tasks at specified timepoints
- Support for Loop, Delivery, Clean and ChargeBattery 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 library
- The rmf_fleet_adapter::agv component can be used to develop a custom “Full Control” fleet adapter
- rmf_fleet_adapter/StandardNames.hpp specifies topic names that are used for RMF integration
Provides a prototype read_only 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
Provides a deprecated full_control 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 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

Deps	Name
	ament_cmake
	ament_cmake_catch2
	rmf_cmake_uncrustify
	rclcpp
	rclcpp_components
	rmf_utils
	rmf_door_msgs
	rmf_ingestor_msgs
	rmf_dispenser_msgs
	rmf_fleet_msgs
	rmf_lift_msgs
	rmf_task_msgs
	rmf_traffic
	rmf_traffic_ros2
	rmf_battery
	rmf_task
	std_msgs
	stubborn_buddies
	stubborn_buddies_msgs

System Dependencies

Name
eigen
yaml-cpp

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

rmf_fleet_adapter package from rmf_ros2 repo

rmf_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	foxy
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_lanes and close_lanes 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: #217
- The rmf_fleet_adapter::agv component interacts with a dispatcher node over topics with rmf_task prefix as specified in rmf_fleet_adapter/StandardNames.hpp
- Support for executing tasks at specified timepoints
- Support for Loop, Delivery, Clean and ChargeBattery 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 library
- The rmf_fleet_adapter::agv component can be used to develop a custom “Full Control” fleet adapter
- rmf_fleet_adapter/StandardNames.hpp specifies topic names that are used for RMF integration
Provides a prototype read_only 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
Provides a deprecated full_control 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 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

Deps	Name
	ament_cmake
	ament_cmake_catch2
	rmf_cmake_uncrustify
	rclcpp
	rclcpp_components
	rmf_utils
	rmf_door_msgs
	rmf_ingestor_msgs
	rmf_dispenser_msgs
	rmf_fleet_msgs
	rmf_lift_msgs
	rmf_task_msgs
	rmf_traffic
	rmf_traffic_ros2
	rmf_battery
	rmf_task
	std_msgs
	stubborn_buddies
	stubborn_buddies_msgs

System Dependencies

Name
eigen
yaml-cpp

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