LionsBot Fleet Adapter

This repository contains the open source fleet adapter for integrating OpenRMF with LionsBot's robots. The different robot families adapters are in their respective directory.

Supported Robot Family

Currently, fleet adapters are developed and has been tested for these supported families of robots:

Fleet adapter	Robot family	Robot type
fleet_adapter_leoscrub	Leobot	LeoScrub
fleet_adapter_r3	R3	Scrub, Vac, Scrub Pro

RMF Installation

RMF Version	Installation Instructions	Supported distros	Supported ROS2 versions
22.09	Installation Instructions	Ubuntu 22.04	Humble

Tasks Summary

Task	Description
dispatch_clean	send a cleaning task with specified zone
cancel_task	cancel a specified task
dispatch_go_to_place	send a navigation task with a specified location
pause_task	pause the task of a specified robot
continue_task	resume the task of a specified robot

NOTE: pause_task and continue_task are custom tasks. The python scripts have to be added into where the rest of the official tasks are located.

Building the fleet adapter

cd $HOME && mkdir -p fleet_adapter_lionsbot_ws/src

cd fleet_adapter_lionsbot_ws/

git clone https://github.com/lionsbot-official/fleet_adapter_lionsbot --branch rmf/22.09 --single-branch --depth 1 src

source /opt/ros/humble/setup.bash

rosdep update --rosdistro $ROS_DISTRO

rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -yr

colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release 

🐳 Alternatively, if you like to use Docker and avoid the hassle of resolving dependency conflicts, please run the commands below instead:

cd $HOME 

git clone https://github.com/lionsbot-official/fleet_adapter_lionsbot --branch rmf/22.09 --single-branch --depth 1 && cd fleet_adapter_lionsbot

Build docker image for fleet_adapter_r3:

docker build -f r3_Dockerfile -t fleet_adapter_lionsbot:r3 .

Build docker image for fleet_adapter_leoscrub:

docker build -f leoscrub_Dockerfile -t fleet_adapter_lionsbot:leoscrub .

Running the fleet adapter

ros2 run fleet_adapter_r3 fleet_adapter_r3 -c config.yaml -n nav_graph.yaml -d dock_summary.yaml

🐳 Alternatively, if you used the Docker instructions above to build, please run the commands below instead:

Build and run docker container for fleet_adapter_r3:

docker run -it --rm  \
--network host \
-v /dev/shm:/dev/shm \
--name fleet_adapter_lionsbot_r3_c \
fleet_adapter_lionsbot:r3 bash -c \
"ros2 run fleet_adapter_r3 fleet_adapter \
-c /fleet_adapter_r3_ws/src/fleet_adapter_r3/configs/config.yaml \
-n /fleet_adapter_r3_ws/src/fleet_adapter_r3/configs/nav_graph.yaml \
-d /fleet_adapter_r3_ws/src/fleet_adapter_r3/configs/dock_summary.yaml"

Build and run docker container for fleet_adapter_leoscrub:

docker run -it --rm  \
--network host \
-v /dev/shm:/dev/shm \
--name fleet_adapter_lionsbot_leoscrub_c \
fleet_adapter_lionsbot:leoscrub bash -c \
"ros2 run fleet_adapter_leoscrub fleet_adapter \
-c /fleet_adapter_leoscrub_ws/src/fleet_adapter_leoscrub/configs/config.yaml \
-n /fleet_adapter_leoscrub_ws/src/fleet_adapter_leoscrub/configs/nav_graph.yaml \
-d /fleet_adapter_leoscrub_ws/src/fleet_adapter_leoscrub/configs/dock_summary.yaml"