EasyFullControl integration with rmf_demos #158
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Signed-off-by: Xi Yu Oh <xiyu@openrobotics.org>
Signed-off-by: Xi Yu Oh <xiyu@openrobotics.org>
Signed-off-by: Xi Yu Oh <xiyu@openrobotics.org>
Signed-off-by: Xi Yu Oh <xiyu@openrobotics.org>
Signed-off-by: Xi Yu Oh <xiyu@openrobotics.org>
Signed-off-by: Xi Yu Oh <xiyu@openrobotics.org>
Signed-off-by: Xi Yu Oh <xiyu@openrobotics.org>
3 tasks
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I don't think we need to keep the previous fleet adapter implementation since this was copied into the implementation of EasyFullControl? |
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@Yadunund do we need to keep the python implementation in case some users want to modify the internal logic for their own application? |
Signed-off-by: Xi Yu Oh <xiyu@openrobotics.org>
Signed-off-by: Xi Yu Oh <xiyu@openrobotics.org>
Signed-off-by: Xi Yu Oh <xiyu@openrobotics.org>
Signed-off-by: Xi Yu Oh <xiyu@openrobotics.org>
Signed-off-by: Xi Yu Oh <xiyu@openrobotics.org>
Signed-off-by: Xi Yu Oh <xiyuoh@intrinsic.ai>
Signed-off-by: Xi Yu Oh <xiyuoh@intrinsic.ai>
Signed-off-by: Xi Yu Oh <xiyuoh@intrinsic.ai>
Signed-off-by: Xi Yu Oh <xiyuoh@intrinsic.ai>
Signed-off-by: Xiyu Oh <xiyu@openrobotics.org>
Signed-off-by: Michael X. Grey <grey@openrobotics.org> Signed-off-by: Aaron Chong <aaronchongth@gmail.com> Co-authored-by: Aaron Chong <aaronchongth@gmail.com> Co-authored-by: Yadunund <yadunund@openrobotics.org>
mxgrey
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Aug 18, 2023
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Signed-off-by: Xi Yu Oh <xiyuoh@intrinsic.ai> Signed-off-by: Yadunund <yadunund@openrobotics.org> Signed-off-by: Michael X. Grey <grey@openrobotics.org> Signed-off-by: Aaron Chong <aaronchongth@gmail.com> Co-authored-by: Yadunund <yadunund@openrobotics.org> Co-authored-by: Grey <grey@openrobotics.org> Co-authored-by: Aaron Chong <aaronchongth@gmail.com>
xiyuoh
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Signed-off-by: Xi Yu Oh <xiyuoh@intrinsic.ai> Signed-off-by: Yadunund <yadunund@openrobotics.org> Signed-off-by: Michael X. Grey <grey@openrobotics.org> Signed-off-by: Aaron Chong <aaronchongth@gmail.com> Co-authored-by: Xiyu <xiyu@openrobotics.org> Co-authored-by: Grey <grey@openrobotics.org> Co-authored-by: Aaron Chong <aaronchongth@gmail.com>
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This PR depends on open-rmf/rmf_ros2#235.
It demonstrates how you can create a fleet adapter with the EasyFullControl API and its python bindings:
EasyFullControl::make, and appropriate callbacks such as get_position, navigate, dock, etc. modified from RobotClientAPI are passed to the adapter viaEasyFullControl::add_robotfor each robot that should be added to the fleet. These callbacks are used by the internal fleet adapter code to receive updates from and send commands to the fleet robots.actionfield is added to the Office world's tinyRobot config file to support teleop actions as part of the EasyFullControl API.easy_fleetis also added to the fleet adapter launch file to easily switch between the currentrmf_demos_fleet_adapterand the EasyFullControl adapter implementations.To test, you may run any full control demo world with an
easy_fleet:=1flag. For example: