Introduce a RMF transportation workcell (#42)

* Migrate to ros2dds bridge Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Bump ros2dds bridge version to fix warning spam Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Add source to transporter API Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * WIP first draft of RMF integration Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Change signals to contain task ids Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Move signaling from workcell to system orchestrator Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Change RMF transporter to be a workcell instead Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Fix cancellation, feedback Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Add TransportAmr capability and RMF workcell Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Revert transporter changes Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Add missing dependency Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Reintroduce signal queueing, cleanup debugs Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Go back to task signaling Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Remove backup files Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Add visualization package Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Add demo package based on rmf_demos Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Remove printout Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Move to nexus_integration_tests instead Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Fix integration test Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Fix repos file, reintroduce comprehensive test Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Make sure AMRs are up before sending task Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Fix copyrights for new files Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Add dependency to yaml-cpp-vendor to nexus_capabilities Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Remove ament_target_dependencies Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Rename capability and add rmf namespace Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * AmrDestination -> Destination Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Split main / rmf main and create new integration test Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Move RMF orchestator to RMF launch file Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Vendor RMF launch files, remove building_map_tools Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Namespace, file renaming, copyright Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Reuse nexus_msgs structs, event based publication Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Remove nexus_visualization dependency Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Remove nexus_visualization Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Fix plugin path Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Cleanup Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Remove signaling at the system orchestrator level Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Remove duplicated behavior trees and use remapping Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Remove unnecessary variable Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Update copyrights Signed-off-by: Yadunund <yadunund@gmail.com> * Fix launch Signed-off-by: Yadunund <yadunund@gmail.com> * Fix potential UB with comments, updated README to build with rmf.repos Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Removed comments Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Sim demo with models from fuel using template sdf (#62) * Working with the same commands Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Basic demo works with models Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Moving enclosures, removing in-between, using nested models, moving camera Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Use new released rmf_building_map_tools args, clean up, moved waypoints, added dispenser/ingestor Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Clean up duplicated and unused files, use rmf_transporter Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Remove duplicated depot Signed-off-by: Aaron Chong <aaronchongth@gmail.com> --------- Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Use new DeliveryRobotWithConveyor model from fuel Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Make remap_task_types and rviz_config launch args Signed-off-by: Yadunund <yadunund@gmail.com> * Move maps into config/rmf Signed-off-by: Yadunund <yadunund@gmail.com> * Also make bt_path and max_jobs launch args Signed-off-by: Yadunund <yadunund@gmail.com> * rmf_demos_fleet_adapter available via rosdep Signed-off-by: Yadunund <yadunund@gmail.com> * Set nested models as static as well Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Rename dispatch_transporter to assign_transporter_workcell Signed-off-by: Yadunund <yadunund@gmail.com> --------- Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> Signed-off-by: Yadunund <yadunund@gmail.com> Signed-off-by: Aaron Chong <aaronchongth@gmail.com> Co-authored-by: Yadunund <yadunund@gmail.com> Co-authored-by: Aaron Chong <aaronchongth@gmail.com>
osrf · Jan 25, 2025 · 7479795 · 7479795
1 parent 7c6ebf7
commit 7479795
Show file tree

Hide file tree

Showing 30 changed files with 2,417 additions and 60 deletions.
diff --git a/nexus_capabilities/CMakeLists.txt b/nexus_capabilities/CMakeLists.txt
@@ -15,8 +15,12 @@ set(dep_pkgs
   nexus_common
   nexus_endpoints
   nexus_orchestrator_msgs
+  nlohmann_json
   rclcpp
   rclcpp_lifecycle
+  rmf_dispenser_msgs
+  rmf_task_msgs
+  yaml_cpp_vendor
   yaml-cpp
 )
 foreach(pkg ${dep_pkgs})
@@ -80,7 +84,7 @@ target_link_libraries(${PROJECT_NAME}
     BT::behaviortree_cpp_v3
     rclcpp::rclcpp
     rclcpp_lifecycle::rclcpp_lifecycle
-    yaml-cpp
+    yaml-cpp::yaml-cpp
 )
 
 target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
@@ -126,6 +130,8 @@ add_library(nexus_builtin_capabilities SHARED
   src/capabilities/gripper_control.cpp
   src/capabilities/plan_motion_capability.cpp
   src/capabilities/plan_motion.cpp
+  src/capabilities/rmf_request.cpp
+  src/capabilities/rmf_request_capability.cpp
 )
 
 target_compile_options(nexus_builtin_capabilities PUBLIC INTERFACE cxx_std_17)
@@ -135,9 +141,13 @@ target_link_libraries(nexus_builtin_capabilities
     ${PROJECT_NAME}
     nexus_common::nexus_common
     nexus_endpoints::nexus_endpoints
+    nlohmann_json::nlohmann_json
     pluginlib::pluginlib
     tf2::tf2
     tf2_ros::tf2_ros
+    ${rmf_dispenser_msgs_TARGETS}
+    ${rmf_task_msgs_TARGETS}
+    yaml-cpp
 )
 
 install(

diff --git a/nexus_capabilities/package.xml b/nexus_capabilities/package.xml
@@ -13,13 +13,17 @@
   <depend>nexus_common</depend>
   <depend>nexus_endpoints</depend>
   <depend>nexus_orchestrator_msgs</depend>
+  <depend>nlohmann-json-dev</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>
+  <depend>rmf_dispenser_msgs</depend>
+  <depend>rmf_task_msgs</depend>
   <depend>rmf_utils</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
   <depend>yaml-cpp</depend>
+  <depend>yaml_cpp_vendor</depend>
 
   <export>
     <build_type>ament_cmake</build_type>

diff --git a/nexus_capabilities/src/capabilities/plugins.xml b/nexus_capabilities/src/capabilities/plugins.xml
@@ -18,4 +18,8 @@
   <class type="nexus::capabilities::PlanMotionCapability" base_class_type="nexus::Capability">
     <description>PlanMotion capability.</description>
   </class>
+
+  <class type="nexus::capabilities::RMFRequestCapability" base_class_type="nexus::Capability">
+    <description>RMFRequest capability.</description>
+  </class>
 </library>