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Basic RMF map, using sed, while still depending on rmf_demos and rmf_demos_gz
Signed-off-by: Aaron Chong <[email protected]>
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‎nexus_integration_tests/CMakeLists.txt‎

Lines changed: 84 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -115,7 +115,7 @@ add_custom_target(generate_zenoh_bridge_configs ALL
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COMMAND ros2 run nexus_network_configuration nexus_network_configuration -n ${nexus_network_cfg_path} -o ${zenoh_cfg_output_dir}
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)
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install(DIRECTORY launch config rviz scripts DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY launch config rviz scripts maps DESTINATION share/${PROJECT_NAME})
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# Install the zenoh config directory containing generated configs.
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message("zenoh_cfg_output_dir: " ${zenoh_cfg_output_dir})
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install(DIRECTORY ${zenoh_cfg_output_dir} DESTINATION share/${PROJECT_NAME}/config/)
@@ -177,3 +177,86 @@ if(BUILD_TESTING)
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endif()
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ament_package()
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# Modified from rmf_demos_maps
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# Get absolute path of the building map
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set(building_map "maps/depot/depot.building.yaml")
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get_filename_component(building_map_path ${building_map} REALPATH)
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# Get the output world name
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string(REGEX REPLACE "\\.[^.]*\.[^.]*$" "" no_extension_path ${building_map_path})
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string(REGEX MATCH "[^\/]+$" world_name ${no_extension_path})
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set(output_world_name ${world_name})
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set(output_dir ${CMAKE_CURRENT_BINARY_DIR}/maps/${output_world_name})
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set(output_world_path ${output_dir}/${output_world_name}.world)
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set(output_model_dir ${output_dir}/models)
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##############################################################################
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# Generate Gz world and download Models
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##############################################################################
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message("BUILDING WORLDFILE WITH COMMAND: ros2 run rmf_building_map_tools building_map_generator gazebo ${building_map_path} ${output_world_path} ${output_model_dir}")
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if (NO_DOWNLOAD_MODELS)
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add_custom_command(
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DEPENDS ${building_map_path}
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COMMAND ros2 run rmf_building_map_tools building_map_generator gazebo ${building_map_path} ${output_world_path} ${output_model_dir}
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OUTPUT ${output_world_path}
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)
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else()
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message("DOWNLOADING MODELS WITH COMMAND: ros2 run rmf_building_map_tools building_map_model_downloader ${building_map_path}")
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add_custom_command(
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DEPENDS ${building_map_path}
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COMMAND ros2 run rmf_building_map_tools building_map_generator gazebo ${building_map_path} ${output_world_path} ${output_model_dir}
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COMMAND ros2 run rmf_building_map_tools building_map_model_downloader ${building_map_path} -e ~/.gazebo/models
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OUTPUT ${output_world_path}
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)
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endif()
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##############################################################################
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# Make changes to generated world file. To be removed after
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# rmf_traffic_editor#524 has been released, to use custom template files
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##############################################################################
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# Insert Depot model
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set(inserted_depot_phony ${output_dir}/inserted_depot_phony)
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add_custom_command(
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DEPENDS ${output_world_path}
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COMMAND sed -i 's|<\/light>|<\/light>\\n<include><uri>https:\/\/fuel.gazebosim.org\/1.0\/OpenRobotics\/models\/Depot<\/uri><pose>15.15 -7.525 0 0 0 0<\/pose><\/include>|g' ${output_world_path}
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OUTPUT ${inserted_depot_phony}
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)
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add_custom_target(insert_depot_into_${output_world_name} ALL
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DEPENDS ${inserted_depot_phony}
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)
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# Change camera view
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set(replace_camera_view_phony ${output_dir}/replace_camera_view_phony)
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add_custom_command(
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DEPENDS ${output_world_path}
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COMMAND sed -i 's|<camera_pose>.*<\/camera_pose>|<camera_pose>5.2453 -7.8138 3.8271 0 0.5849817 0.2531771<\/camera_pose>|g' ${output_world_path}
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OUTPUT ${replace_camera_view_phony}
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)
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add_custom_target(replace_camera_pose_in_${output_world_name} ALL
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DEPENDS ${replace_camera_view_phony}
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)
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##############################################################################
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# Generate the nav graphs
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##############################################################################
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set(output_nav_graphs_dir ${output_dir}/nav_graphs/)
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set(output_nav_graphs_phony ${output_nav_graphs_dir}/phony)
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add_custom_command(
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OUTPUT ${output_nav_graphs_phony}
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COMMAND ros2 run rmf_building_map_tools building_map_generator nav ${building_map_path} ${output_nav_graphs_dir}
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DEPENDS ${building_map_path} ${output_world_path}
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)
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add_custom_target(generate_${output_world_name}_nav_graphs ALL
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DEPENDS ${output_nav_graphs_phony}
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)
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install(
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DIRECTORY ${output_dir}
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DESTINATION share/${PROJECT_NAME}/maps
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)

‎nexus_integration_tests/config/depot/deliveryRobot_config.yaml‎

Lines changed: 46 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,46 @@
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# FLEET CONFIG =================================================================
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# RMF Fleet parameters
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rmf_fleet:
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name: "deliveryRobot"
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limits:
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linear: [0.7, 0.75] # velocity, acceleration
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angular: [0.6, 2.0] # velocity, acceleration
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profile: # Robot profile is modelled as a circle
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footprint: 0.6 # radius in m
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vicinity: 0.8 # radius in m
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reversible: True # whether robots in this fleet can reverse
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# TODO Update battery parameters with actual specs
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battery_system:
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voltage: 24.0 # V
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capacity: 40.0 # Ahr
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charging_current: 8.8 # A
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mechanical_system:
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mass: 70.0 # kg
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moment_of_inertia: 40.0 #kgm^2
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friction_coefficient: 0.22
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ambient_system:
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power: 20.0 # W
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tool_system:
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power: 0.0 # W
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recharge_threshold: 0.10 # Battery level below which robots in this fleet will not operate
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recharge_soc: 1.0 # Battery level to which robots in this fleet should be charged up to during recharging tasks
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max_delay: 15.0 # allowed seconds of delay of the current itinerary before it gets interrupted and replanned
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publish_fleet_state: 10.0 # Publish frequency for fleet state, ensure that it is same as robot_state_update_frequency
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account_for_battery_drain: True
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task_capabilities: # Specify the types of RMF Tasks that robots in this fleet are capable of performing
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loop: True
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delivery: True
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finishing_request: "charge" # [park, charge, nothing]
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robots:
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deliveryRobot1:
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charger: "deliveryRobotCharger1"
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deliveryRobot2:
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charger: "deliveryRobotCharger2"
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fleet_manager:
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ip: "127.0.0.1"
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port: 22012
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user: "some_user"
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password: "some_password"
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robot_state_update_frequency: 10.0

‎nexus_integration_tests/launch/depot.launch.xml‎

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<?xml version='1.0' ?>
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<launch>
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<arg name="headless" default="true"/>
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<arg name="use_simulator" default="true"/>
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<arg name="sim_update_rate" default='100'/>
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<!-- RMF Common launch -->
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<include file="$(find-pkg-share rmf_demos)/common.launch.xml">
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<arg name="headless" value="$(var headless)" />
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<arg name="use_sim_time" value="$(var use_simulator)"/>
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<arg name="viz_config_file" value ="$(find-pkg-share nexus_integration_tests)/launch/include/depot/depot.rviz"/>
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<arg name="config_file" value="$(find-pkg-share nexus_integration_tests)/maps/depot/depot.building.yaml"/>
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</include>
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<!-- DeliveryRobot fleet adapter -->
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<group>
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<include file="$(find-pkg-share rmf_demos_fleet_adapter)/launch/fleet_adapter.launch.xml">
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<arg name="use_sim_time" value="$(var use_sim_time)"/>
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<arg name="nav_graph_file" value="$(find-pkg-share nexus_integration_tests)/maps/depot/nav_graphs/0.yaml" />
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<arg name="config_file" value="$(find-pkg-share nexus_integration_tests)/config/depot/deliveryRobot_config.yaml"/>
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</include>
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</group>
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<!-- Simulator launch -->
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<include if="$(var use_simulator)" file="$(find-pkg-share rmf_demos_gz)/simulation.launch.xml">
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<arg name="headless" value="$(var headless)" />
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<arg name="map_package" value="nexus_integration_tests" />
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<arg name="map_name" value="depot" />
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<arg name="gazebo_version" value="8" />
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<arg name="sim_update_rate" value="$(var sim_update_rate)"/>
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</include>
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</launch>

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