-
Notifications
You must be signed in to change notification settings - Fork 15
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
EasyFullControl and PerformAction plugin system (#36)
Signed-off-by: Xiyu Oh <xiyu@openrobotics.org>
- Loading branch information
Showing
29 changed files
with
3,785 additions
and
1,534 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,56 @@ | ||
| ## MiR Action Plugins | ||
|
|
||
| This section lists and elaborates on the MiR actions provided out-of-the-box in this repo. | ||
|
|
||
| ## Available Action Plugins | ||
|
|
||
| * [rmf_cart_delivery](#rmf_cart_delivery) | ||
|
|
||
|
|
||
| ## rmf_cart_delivery | ||
|
|
||
| ### Overview | ||
|
|
||
| The `rmf_cart_delivery` plugin allows users to submit pickup and dropoff tasks for MiR from point A to point B via RMF. The intended workflow of a delivery task is as follows: | ||
| 1. RMF will send the robot to the pickup lot. | ||
| 2. The robot will attempt to dock under a cart in the pickup lot. If the cart is missing or is not the desired cart, RMF will cancel the task. | ||
| 3. If the robot successfully docks under the correct cart, it will latch onto the cart. | ||
| 4. With the cart attached, the robot will move to the designated dropoff point. | ||
| 5. Upon reaching the dropoff point, the robot will release and exit from under the cart. The task ends once the robot has safely exited. | ||
|
|
||
| ### Setup | ||
|
|
||
| Some relevant MiR missions are pre-defined and can be automatically created on the MiR on startup. These missions are used to facilitate the pickup and dropoff activities. They are defined and stored in the `rmf_cart_missions.json` file and do not require any further configuration. | ||
|
|
||
| However, since there are various types of latching methods available for different MiR models, users will need to set up their custom pickup and dropoff missions on the MiR, as well as implement their own `CartDetection` plugin module with the appropriate APIs to detect latching states. | ||
|
|
||
| Before setting up, you may want to refer to the [list of RMF missions](https://github.com/open-rmf/fleet_adapter_mir/blob/main/docs/mir_missions.md#RMF-missions-for-rmf_cart_delivery) required for this MiR Action. | ||
|
|
||
| Steps for setup: | ||
|
|
||
| 1. Create 2 missions on the MiR: | ||
| - `rmf_pickup_cart`: Triggers the robot's latching module to open | ||
| - `rmf_dropoff_cart`: Triggers the robot's latching module to close and release the cart, then exit from under the cart (relative move in the negative X-direction) | ||
| 2. Fill in the MiR mission names in the plugin config under `missions`. | ||
| - This helps the fleet adapter identify and map the action to the missions you have created earlier. | ||
| - The recommended mission names are `rmf_pickup_cart` and `rmf_dropoff_cart`, per the instructions in Step 1. However, it is possible to use a different mission name as long as it is indicated accordingly under `missions`. | ||
| 3. Fill in the appropriate cart marker type in the plugin config under `marker_type`. | ||
| 4. Create your own `CartDetection` plugin. | ||
| - You are encouraged to use the `CartDetection` class in `rmf_cart_detection.py` as a base for your own module implementation. The class methods will be used by the `CartPickup` and `CartDropoff` Mir Actions. Some API calls to check the MiR's PLC registers and IO modules are provided in case you may want to use them. | ||
| - In the plugin config, update the `cart_detection_module` field to point to your own written module. | ||
| 6. Enable RMF cart missions creation. | ||
| - If this is your first time setting up the action, and the pre-defined RMF cart missions have not been created on your robot, you will need to provide the filepath to `rmf_cart_missions.json` under `missions_json`. | ||
|
|
||
| You can refer to `mir_config.yaml` under the `configs` folder for an example of a filled-in plugin configuration. | ||
|
|
||
|
|
||
| ### Usage | ||
|
|
||
| To submit a cart delivery task, you may use the `dispatch_delivery` task script found in the `fleet_adapter_mir_tasks` package: | ||
| ```bash | ||
| ros2 run fleet_adapter_mir_tasks dispatch_delivery -g go_to_waypoint -p pickup_lot -d dropoff_lot -c some_cart_id | ||
| ``` | ||
| - `-g`: Takes in an existing waypoint name for the robot to travel to before performing the pickup. The robot will begin docking into the pickup lot from this waypoint. | ||
| - `-p`: Name of the pickup lot. This name should be identical to the shelf position configured on the MiR. | ||
| - `-d`: Name of the dropoff lot. This name should be identical to the robot or shelf position configured on the MiR. | ||
| - `-c`: Optional cart identifier for the fleet adapter to assess whether the cart is correct for pickup. |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,39 @@ | ||
| ## MiR Missions for RMF | ||
|
|
||
| RMF relies on MiR missions to command MiR robots to move and perform various actions. To standardize the missions used for RMF, users have the option to automatically create these missions required by RMF via the fleet adapter by parsing in the JSON filepath. This section lists and explains what these missions do. | ||
|
|
||
| Missions may be used for default behavior, which mostly involves the robot patrolling across the same or different maps. Additional missions can be optionally created for custom actions, such as pickup and dropoff missions for delivery tasks. | ||
|
|
||
| For more information on how to set up missions, actions and variables, please refer to [official guide documents](https://www.manualslib.com/manual/1941073/Mir-Mir250.html?page=150#manual) (this is for the MiR250). | ||
|
|
||
|
|
||
| ### List of standardized RMF missions | ||
|
|
||
| * [Default RMF missions](#Default-RMF-missions) | ||
| * [RMF missions for `rmf_cart_delivery`](#RMF-missions-for-rmf_cart_delivery) | ||
|
|
||
|
|
||
| ### Default RMF missions | ||
|
|
||
| Definition can be found in `rmf_missions.json`. | ||
|
|
||
| | Mission name | Use case | Created by RMF | | ||
| | -------------- | ----------- | :--------------: | | ||
| | `rmf_dock_and_charge` | Enables the robot to dock into its charger and begin charging | Yes | | ||
| | `rmf_localize` | Switches MiR map once the robot reaches another level | Yes | | ||
| | `rmf_move` | Commands the robot to move to the MiR coordinates `[X, Y, Orientation]` | Yes | | ||
| | `rmf_move_to_position` | Commands the robot to move to the specified MiR Position | Yes | | ||
| | `rmf_follow_line` | Commands the robot to move to two specified MiR Positions in sequence | Yes | | ||
|
|
||
|
|
||
| ### RMF missions for `rmf_cart_delivery` | ||
|
|
||
| | Mission name | Use case | Created by RMF | | ||
| | -------------- | ----------- | :--------------: | | ||
| | `rmf_dock_to_cart` | Enables the robot to dock under a cart | Yes | | ||
| | `rmf_exit_lot` | Commands the robot to move backwards by 1 metre, for exiting from under a cart | Yes | | ||
| | `rmf_pickup_cart` | Commands the robot open its latch to attach to a cart | No | | ||
| | `rmf_dropoff_cart` | Commands the robot unlatch from a cart and move backwards to exit from under the cart | No | | ||
|
|
||
| **Important note:** | ||
| In order to ensure that your robot has the correct footprint after pickup/dropoff, do remember to add in the appropriate MiR actions to update robot footprint in your `rmf_pickup_cart` and `rmf_dropoff_cart` missions. |
Oops, something went wrong.