What Is This?

This repository contains the RMF Door Adapter that interfaces with Megazo's Door Access System ICAD v3.

Dependencies 📚

• ROS 2 Humble
• Open-RMF on Humble Hawksbill - Sync 2023-12-29
• ICAD Integrated Access Control Device

Build 🔨

cd $HOME

git clone https://github.com/KABAM-Robotics/door_adapter_template.git --depth 1 --single-branch --branch main && cd door_adapter_megazo

docker build -t door_adapter_megazo:humble .

Run ⚙️

docker run -it --rm \
    --name door_adapter_megazo_c \
    --network host \
    -v /dev/shm:/dev/shm \
door_adapter_megazo:humble /bin/bash -c "source /ros_entrypoint.sh && ros2 run door_adapter_megazo door_adapter"

Verify ✅

Upon the running the command above, it should output similar to what is shown below:

[INFO] [1729654097.436618736] [door_adapter_megazo]: Initialising [door_adapter_megazo]...
[INFO] [1729654097.472651911] [door_adapter_megazo]: Connected to door client API.
[INFO] [1729654098.498656692] [door_adapter_megazo]: Door [Lab_D01] [MODE_CLOSED]
[INFO] [1729654099.511240654] [door_adapter_megazo]: Door [Lab_D01] [MODE_CLOSED]
[INFO] [1729654100.514910118] [door_adapter_megazo]: Door [Lab_D01] [MODE_CLOSED]
[INFO] [1729654101.502347821] [door_adapter_megazo]: Door [Lab_D01] [MODE_CLOSED]

Configure 🔧

To allow door_adapter_megazo to be configured for custom deployment, please edit the following in config.yaml:

• door name and id

Set the same as the door on your RMF Map .building.yaml file.

• door_auto_closes

Set to True if door remains closed until requested open, and automatically closes if it does not receive subsequent open requests.

• door_signal_period

Set time taken for door signal to be effective, in seconds.

• continuous_status_polling

Set whether to keep checking door state when there are no requests.

• header_key, header_value

Set the Megazo API username and password respectively. Please contact the Megazo vendor for details.

• enable_mqtt_status_polling

Set whether to poll a door status using MQTT or not. Use when conventional approach is inaccurate.

Contributions

We welcome contributions! Please see the contribution guidelines.

References

• https://osrf.github.io/ros2multirobotbook/integration_doors.html
• https://docs.python-requests.org/en/master/

Maintainer(s)

• Bey Hao Yun (Gary)