Open RMF Compatibility with ROS2 Humble & Jazzy + Issues with Map Visibility & Task Assignment

[Armstrong-01]

Hi Open RMF Team,

I am using Open RMF on ROS2 Humble, but I am facing some issues:

Which ROS2 version is best for Open RMF? Is Humble or Jazzy more compatible?

Issues on Humble:

    The map is not visible in the RMF dashboard.

    The robot is also not visible in the dashboard.

    I cannot assign tasks to the robot.

I have checked the services, reloaded the map, and restarted the RMF dashboard, but the issue remains.

Should I switch to ROS2 Jazzy, or is there a fix for this in Humble?

System Details:

ROS2 Version: Humble

OS: (e.g., Ubuntu 22.04)

Please let me know how to fix this. Thanks!

[aaronchongth]

You can refer to this comment for some more context, https://github.com/open-rmf/rmf/discussions/652#discussioncomment-12700210

Essentially, you should still be able to use the latest branches that contain the latest features, message definitions (for example Alerts), if you build from source. Also as mentioned in the linked comment, a nice way may be to set up a re-usable docker image.

The map is not visible in the RMF dashboard.
The robot is also not visible in the dashboard.

This generally already means that there is no connectivity between the ROS 2 and websocket components between the API server and the fleet adapter + other nodes in the setup. There are 2 things to note

• if the map doesn't appear, that is a ROS 2 connectivity issue. Make sure that the nodes can find each other with the usual debugging methods, ros2 topic list, ros2 node list, check your ROS_DOMAIN_ID and RMW_IMPLEMENTATION. We've found that rmw_cyclonedds_cpp works without issues
• if the robot does not show up on the dashboard's system overview's robot's table, that's a websocket issue. Make sure that you are launching your fleet adapters with the server_uri launch argument, pointing to the API server, the default address is ws://localhost:8000/_internal. Carefully go through the instructions

For now, to use rmf-web properly, it doesn't matter if you are using humble or jazzy, because the binaries for the Alert messages used on main have not been released in binaries. See this thread #1041 (comment) for more information.

• If on jazzy, you will just need to build the message packages from source, see https://github.com/open-rmf/rmf-web/blob/main/.github/minimal-rmf/Dockerfile, and use the released binaries.
• If on humble, you mightneed to build all the packages from source.

edit: I'll try to add these pieces of information onto the README troubleshooting steps soon

[Armstrong-01]

Hellow @aaronchongth,

Thanks for getting back to me. I'm sticking with ROS2 Humble and have built everything from source to get the latest features (like Alert messages). Still, I'm running into a few issues:

Map not showing: It seems like a ROS2 connectivity thing. I've checked with ros2 topic list and ros2 node list—everything appears to be talking to each other fine. I'm also using rmw_cyclonedds_cpp with the proper ROS_DOMAIN_ID.

Robot not visible: Looks like a websocket hiccup. I've launched the fleet adapter with the correct server_uri (default ws://localhost:8000/_internal).

Task assignment issues: Likely tied to the connectivity problems above.

Any ideas or fixes for these issues in Humble? I really want to stick with it instead of switching to Jazzy.

Thanks a lot!

[aaronchongth]

Looks like there are more issues than expected with your set up. Please provide API server logs, as well as any error logs you see on the browser console.