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Remove nav graph for fleet manager and update Office world #263

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merged 3 commits into from
Oct 15, 2024
Merged

Remove nav graph for fleet manager and update Office world #263

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70a6c7f
Remove nav graph arg
xiyuoh Oct 4, 2024
73cd00f
Reorganize office world for tinyRobot to move around
xiyuoh Oct 4, 2024
1ff38bd
Merge branch 'main' into xiyu/fm_fix
xiyuoh Oct 14, 2024
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2 changes: 1 addition & 1 deletion rmf_demos_fleet_adapter/launch/fleet_adapter.launch.xml
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@
<!-- Fleet manager -->
<node pkg="rmf_demos_fleet_adapter"
exec="fleet_manager"
args="--config_file $(var config_file) --nav_graph $(var nav_graph_file)"
args="--config_file $(var config_file)"
output="both">

<param name="use_sim_time" value="$(var use_sim_time)"/>
Expand Down
11 changes: 2 additions & 9 deletions rmf_demos_fleet_adapter/rmf_demos_fleet_adapter/fleet_manager.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -96,7 +96,7 @@ def is_expected_task_id(self, task_id):

class FleetManager(Node):

def __init__(self, config, nav_path):
def __init__(self, config):
self.debug = False
self.config = config
self.fleet_name = self.config['rmf_fleet']['name']
Expand Down Expand Up @@ -570,20 +570,13 @@ def main(argv=sys.argv):
required=True,
help='Path to the config.yaml file',
)
parser.add_argument(
'-n',
'--nav_graph',
type=str,
required=True,
help='Path to the nav_graph for this fleet adapter',
)
args = parser.parse_args(args_without_ros[1:])
print('Starting fleet manager...')

with open(args.config_file, 'r') as f:
config = yaml.safe_load(f)

fleet_manager = FleetManager(config, args.nav_graph)
fleet_manager = FleetManager(config)

spin_thread = threading.Thread(target=rclpy.spin, args=(fleet_manager,))
spin_thread.start()
Expand Down
64 changes: 30 additions & 34 deletions rmf_demos_maps/maps/office/office.building.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -51,42 +51,41 @@ levels:
- parameters: {ceiling_scale: [3, 1], ceiling_texture: [1, blue_linoleum_high_contrast], indoor: [2, 0], texture_name: [1, blue_linoleum_high_contrast], texture_rotation: [3, 0], texture_scale: [3, 1]}
vertices: [27, 36, 33, 6, 7, 8, 9, 16, 15, 14, 13, 31, 30, 29, 28]
- parameters: {ceiling_scale: [3, 1], ceiling_texture: [1, concrete2], indoor: [2, 0], texture_name: [1, concrete2], texture_rotation: [3, 0], texture_scale: [3, 10]}
vertices: [6, 68, 69, 9, 8, 7]
vertices: [6, 67, 68, 9, 8, 7]
- parameters: {ceiling_scale: [3, 1], ceiling_texture: [1, blue_linoleum_high_contrast], indoor: [2, 0], texture_name: [1, blue_linoleum_high_contrast], texture_rotation: [3, 0], texture_scale: [3, 1]}
vertices: [36, 34, 37, 38, 25, 26]
- parameters: {ceiling_scale: [3, 1], ceiling_texture: [1, black_concrete], indoor: [2, 0], texture_name: [1, black_concrete], texture_rotation: [3, 0], texture_scale: [3, 1]}
vertices: [6, 33, 34, 35, 37, 38, 24, 23, 22, 19, 20, 21, 15, 16, 9, 69, 68]
vertices: [6, 33, 34, 35, 37, 38, 24, 23, 22, 19, 20, 21, 15, 16, 9, 68, 67]
lanes:
- [39, 40, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [43, 45, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [43, 44, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [48, 40, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [40, 49, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [49, 41, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [49, 51, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [55, 46, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [51, 56, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [56, 57, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [39, 58, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [59, 48, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [59, 47, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [54, 46, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [55, 56, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [39, 57, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [58, 48, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [58, 47, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [41, 42, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [41, 60, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [60, 61, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [61, 43, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [54, 62, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [53, 63, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [49, 64, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [64, 52, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [41, 59, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [59, 60, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [60, 43, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [53, 61, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [52, 62, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [49, 63, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [63, 51, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [45, 46, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [55, 65, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [46, 66, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [66, 50, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [57, 54, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [54, 53, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [53, 65, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [59, 67, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [59, 45, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [54, 64, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [46, 65, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [65, 50, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [56, 53, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [53, 52, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [52, 64, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [58, 66, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [58, 45, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [59, 61, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
layers:
office_laserscan:
color: [0.20799999999999999, 0.51800000000000002, 0.89400000000000002, 0.5]
Expand Down Expand Up @@ -174,10 +173,10 @@ levels:
- {dispensable: false, model_name: OpenRobotics/RecTable, name: OpenRobotics/RecTable, static: true, x: 899.73800000000006, y: 967.89999999999998, yaw: 1.0973999999999999, z: 0}
- {dispensable: false, model_name: OpenRobotics/SquareShelf, name: OpenRobotics/SquareShelf, static: true, x: 2450.9459999999999, y: 362.63799999999998, yaw: -0.0083000000000000001, z: 0}
- {dispensable: false, model_name: OpenRobotics/Fridge, name: OpenRobotics/Fridge, static: true, x: 1875.9770000000001, y: 604.197, yaw: 1.5708, z: 0}
- {dispensable: false, model_name: OpenRobotics/Drawer, name: OpenRobotics/Drawer, static: true, x: 1471.6030000000001, y: 1374.8610000000001, yaw: 3.1000000000000001, z: 0}
- {dispensable: false, model_name: OpenRobotics/Drawer, name: OpenRobotics/Drawer, static: true, x: 1522.318, y: 1375.692, yaw: 3.0893000000000002, z: 0}
- {dispensable: false, model_name: OpenRobotics/Drawer, name: OpenRobotics/Drawer, static: true, x: 1571.0940000000001, y: 1377.078, yaw: 3.1097000000000001, z: 0}
- {dispensable: false, model_name: OpenRobotics/Drawer, name: OpenRobotics/Drawer, static: true, x: 1679.73, y: 1373.4749999999999, yaw: -3.0832999999999999, z: 0}
- {dispensable: false, model_name: OpenRobotics/Drawer, name: OpenRobotics/Drawer, static: true, x: 1471.6030000000001, y: 1269.8610000000001, yaw: -0.040000000000000001, z: 0}
- {dispensable: false, model_name: OpenRobotics/Drawer, name: OpenRobotics/Drawer, static: true, x: 1522.318, y: 1270.692, yaw: -0.040000000000000001, z: 0}
- {dispensable: false, model_name: OpenRobotics/Drawer, name: OpenRobotics/Drawer, static: true, x: 1571.0940000000001, y: 1268.078, yaw: -0.040000000000000001, z: 0}
- {dispensable: false, model_name: OpenRobotics/Drawer, name: OpenRobotics/Drawer, static: true, x: 1679.73, y: 1267.4749999999999, yaw: -0.040000000000000001, z: 0}
- {dispensable: false, model_name: OpenRobotics/AdjTable, name: OpenRobotics/AdjTable, static: true, x: 2699.48, y: 546.64800000000002, yaw: -1.7435, z: 0}
- {dispensable: false, model_name: OpenRobotics/CoffeeTable, name: OpenRobotics/CoffeeTable, static: true, x: 2732.7600000000002, y: 394.072, yaw: 1.5708, z: 0}
- {dispensable: false, model_name: OpenRobotics/Drawer, name: OpenRobotics/Drawer, static: true, x: 1031.5450000000001, y: 397.61099999999999, yaw: 1.1779999999999999, z: 0}
Expand All @@ -191,8 +190,6 @@ levels:
- {dispensable: false, model_name: OpenRobotics/MetalCabinet, name: OpenRobotics/MetalCabinet, static: true, x: 758.96900000000005, y: 470.916, yaw: 2.6833999999999998, z: 0}
- {dispensable: false, model_name: OpenRobotics/MetalCabinet, name: OpenRobotics/MetalCabinet, static: true, x: 696.33399999999995, y: 371.52800000000002, yaw: 1.1071, z: 0}
- {dispensable: false, model_name: OpenRobotics/MiR100, name: OpenRobotics/MiR100, static: true, x: 968.74300000000005, y: 827.98800000000006, yaw: -0.51590000000000003, z: 0}
- {dispensable: false, model_name: OpenRobotics/Drawer, name: OpenRobotics/Drawer, static: true, x: 1243.4269999999999, y: 1282.3009999999999, yaw: 1.6649, z: 0}
- {dispensable: false, model_name: OpenRobotics/Drawer, name: OpenRobotics/Drawer, static: true, x: 1182.452, y: 1288.9069999999999, yaw: -1.512, z: 0}
- {dispensable: false, model_name: OpenRobotics/OfficeChairBlue, name: OpenRobotics/OfficeChairBlue, static: true, x: 842.88199999999995, y: 1178.6559999999999, yaw: -2.0863, z: 0}
- {dispensable: false, model_name: OpenRobotics/MetalCabinet, name: OpenRobotics/MetalCabinet, static: true, x: 2463.2600000000002, y: 758.13, yaw: -0.014500000000000001, z: 0}
- {dispensable: false, model_name: OpenRobotics/MetalCabinet, name: OpenRobotics/MetalCabinet, static: true, x: 2561.8960000000002, y: 759.04300000000001, yaw: -0.024400000000000002, z: 0}
Expand Down Expand Up @@ -250,10 +247,9 @@ levels:
- [1551.069, 468.34899999999999, 0, ""]
- [1052.7270000000001, 730.18200000000002, 0, ""]
- [2474.5450000000001, 885.63599999999997, 0, hardware_2, {dropoff_ingestor: [1, coke_ingestor], is_holding_point: [4, true], is_parking_spot: [4, false]}]
- [934.92999999999995, 935.42899999999997, 0, "", {is_parking_spot: [4, false]}]
- [631.56200000000001, 587.89400000000001, 0, coe, {dropoff_ingestor: [1, coke_ingestor_2], is_holding_point: [4, true], is_parking_spot: [4, false]}]
- [1790.4670000000001, 1326.2180000000001, 0, ""]
- [1364.76, 1336.7170000000001, 0, ""]
- [1800.8320000000001, 1341.902, 0, ""]
- [1373.213, 1350.848, 0, ""]
- [2222.415, 1308.722, 0, patrol_C]
- [943.63099999999997, 1273.4349999999999, 0, patrol_B]
- [1107.614, 1316.271, 0, ""]
Expand Down Expand Up @@ -304,7 +300,7 @@ levels:
- [25, 38, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, wall_white], texture_scale: [3, 1], texture_width: [3, 1]}]
- [38, 24, {alpha: [3, 0.5], texture_height: [3, 2.5], texture_name: [1, wall_white], texture_scale: [3, 1], texture_width: [3, 1]}]
- [37, 38, {alpha: [3, 0.80000000000000004], texture_height: [3, 2.5], texture_name: [1, wall_white], texture_scale: [3, 1], texture_width: [3, 1]}]
- [69, 70, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, blue_linoleum_high_contrast], texture_scale: [3, 1], texture_width: [3, 1]}]
- [70, 71, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, blue_linoleum_high_contrast], texture_scale: [3, 1], texture_width: [3, 1]}]
- [71, 72, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, blue_linoleum_high_contrast], texture_scale: [3, 1], texture_width: [3, 1]}]
lifts: {}
name: building
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