RMF Site integration with ROS 2

Generate simulation worlds and navigation graphs from RMF Site Editor projects.

Setup

Prepare your maps package and its CMakeLists.txt. You may use the rmf_site_generate to generate a world file and navigation graphs from a specific map, or the rmf_site_generate_map_package command to create a maps package containing relevant world files and navigation graphs from a folder of map files. Refer to the rmf_site_demos package for usage examples in your map package CMakeLists.txt.

System Dependencies

Make sure to have the dependencies installed:

sudo apt-get update -y
sudo apt-get install -y python3-pip
pip install git+https://github.com/colcon/colcon-cargo.git --break-system-packages
pip install git+https://github.com/colcon/colcon-ros-cargo.git --break-system-packages

# Install rmf_site_editor
cargo install rmf_site_editor

Try an example!

The rmf_site_demos package provides examples of running RMF demo worlds with navigation graphs generated using the site editor. Ensure that you have followed the instructions here to get the necessary RMF dependencies set up. Do ensure that the repositories listed in rmf.repos are cloned and built in the same workspace for the simulation to launch.

You will also need to clone in rmf_site_map_server and rclrs, then set up the workspace with the necessary dependencies. The steps below assume you're using ROS 2 Jazzy.

cd ~/rmf_ws
git clone https://github.com/open-rmf/rmf_site_map_server.git src/rmf_site_map_server
git clone https://github.com/ros2-rust/ros2_rust.git src/ros2_rust
vcs import src < src/ros2_rust/ros2_rust_jazzy.repos
. /opt/ros/jazzy/setup.sh

Build your workspace:

colcon build --packages-up-to rmf_site_demos

You may try these examples after building the workspace.

ros2 launch rmf_site_demos office.launch.xml

ros2 launch rmf_site_demos hotel.launch.xml