RMF2 Task Orchestrator

RMF2 Task Orchestrator is a workflow executor for multi-robot task coordination, built on top of Bevy ECS and OpenRMF's Crossflow.

Getting Started

Prerequisites:

• If running locally:

  • Install & run MQTT broker (eg.Mosquitto)

  • Install & run AMQP server (eg. RabbitMQ)

• Docker Desktop: Windows, macOS, Linux

Compile & run the Task Orchestrator:

cargo run

Run an example workflow:

curl -X POST http://localhost:2727/api/executor/run \
  -H 'Content-Type: application/json' \
  -d '{"diagram": '"$(cat diagrams/mqtt_examples/mqtt_listen_consume.json)"', "request": {}}'

Alternatively, the workflow can be edited and run on the live editor at http://localhost:2727.

Documentation

• Platform: Ubuntu 22.04+
• Protocol Support: MQTT, AMQP

Detailed Documentation

• Task Interfaces

• Node Types

License

Apache 2.0