Vendor RMF launch files, remove building_map_tools

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
osrf · Jan 10, 2025 · 161b2a4 · 161b2a4
1 parent c9f4726
commit 161b2a4
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Showing 13 changed files with 510 additions and 406 deletions.
diff --git a/nexus_integration_tests/CMakeLists.txt b/nexus_integration_tests/CMakeLists.txt
@@ -115,7 +115,7 @@ add_custom_target(generate_zenoh_bridge_configs ALL
   COMMAND ros2 run nexus_network_configuration nexus_network_configuration -n ${nexus_network_cfg_path} -o ${zenoh_cfg_output_dir}
 )
 
-install(DIRECTORY launch config rviz scripts maps/ DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY launch config rviz scripts DESTINATION share/${PROJECT_NAME})
 # Install the zenoh config directory containing generated configs.
 message("zenoh_cfg_output_dir: " ${zenoh_cfg_output_dir})
 install(DIRECTORY ${zenoh_cfg_output_dir} DESTINATION share/${PROJECT_NAME}/config/)
@@ -176,79 +176,4 @@ if(BUILD_TESTING)
   endif()
 endif()
 
-# Taken from rmf_demos_maps
-file(GLOB_RECURSE traffic_editor_paths "maps/*.building.yaml")
-
-foreach(path ${traffic_editor_paths})
-
-  # Get the output world name
-  string(REGEX REPLACE "\\.[^.]*\.[^.]*$" "" no_extension_path ${path})
-  string(REGEX MATCH "[^\/]+$" world_name  ${no_extension_path})
-
-  set(map_path ${path})
-  set(output_world_name ${world_name})
-  set(output_dir ${CMAKE_CURRENT_BINARY_DIR}/maps/${output_world_name})
-  set(output_world_path ${output_dir}/${output_world_name}.world)
-  set(output_model_dir ${output_dir}/models)
-
-  ##############################################################################
-  # Generate Gz world and download Models
-  ##############################################################################
-
-  message("BUILDING WORLDFILE WITH COMMAND: ros2 run rmf_building_map_tools building_map_generator gazebo ${map_path} ${output_world_path} ${output_model_dir}")
-  if (NO_DOWNLOAD_MODELS)
-    add_custom_command(
-      DEPENDS ${map_path}
-      COMMAND ros2 run rmf_building_map_tools building_map_generator gazebo ${map_path} ${output_world_path} ${output_model_dir}
-      OUTPUT ${output_world_path}
-    )
-  else()
-    message("DOWNLOADING MODELS WITH COMMAND: ros2 run rmf_building_map_tools building_map_model_downloader ${map_path}")
-    add_custom_command(
-      DEPENDS ${map_path}
-      COMMAND ros2 run rmf_building_map_tools building_map_generator gazebo ${map_path} ${output_world_path} ${output_model_dir}
-      COMMAND ros2 run rmf_building_map_tools building_map_model_downloader ${map_path} -e ~/.gazebo/models
-      OUTPUT ${output_world_path}
-    )
-  endif()
-
-  ##############################################################################
-  # generate the navmesh and required files for crowd simulation for gz
-  ##############################################################################
-  set(crowd_sim_config_resource ${output_dir}/config_resource/)
-
-  add_custom_command(
-    OUTPUT ${world_name}_crowdsim
-    COMMAND ros2 run rmf_building_map_tools building_crowdsim ${map_path} ${crowd_sim_config_resource} ${output_world_path}
-    DEPENDS ${output_world_path}
-  )
-
-  # This will initiate both custom commands: ${output_world_path} and ${world_name}_crowdsim
-  add_custom_target(generate_${world_name}_crowdsim ALL
-    DEPENDS ${world_name}_crowdsim
-  )
-
-  ##############################################################################
-  # Generate the nav graphs
-  ##############################################################################
-
-  set(output_nav_graphs_dir ${output_dir}/nav_graphs/)
-  set(output_nav_graphs_phony ${output_nav_graphs_dir}/phony)
-  add_custom_command(
-    OUTPUT ${output_nav_graphs_phony}
-    COMMAND ros2 run rmf_building_map_tools building_map_generator nav ${map_path} ${output_nav_graphs_dir}
-    DEPENDS ${map_path}
-  )
-
-  add_custom_target(generate_${output_world_name}_nav_graphs ALL
-    DEPENDS ${output_nav_graphs_phony}
-  )
-
-  install(
-    DIRECTORY ${output_dir}
-    DESTINATION share/${PROJECT_NAME}/maps
-  )
-
-endforeach()
-
 ament_package()
diff --git a/nexus_integration_tests/config/rmf/deliveryRobot_config.yaml b/nexus_integration_tests/config/rmf/deliveryRobot_config.yaml
@@ -0,0 +1,46 @@
+# FLEET CONFIG =================================================================
+# RMF Fleet parameters
+
+rmf_fleet:
+  name: "deliveryRobot"
+  limits:
+    linear: [0.7, 0.75] # velocity, acceleration
+    angular: [0.6, 2.0] # velocity, acceleration
+  profile: # Robot profile is modelled as a circle
+    footprint: 0.6 # radius in m
+    vicinity: 0.8 # radius in m
+  reversible: True # whether robots in this fleet can reverse
+  # TODO Update battery parameters with actual specs
+  battery_system:
+    voltage: 24.0 # V
+    capacity: 40.0 # Ahr
+    charging_current: 8.8 # A
+  mechanical_system:
+    mass: 70.0 # kg
+    moment_of_inertia: 40.0 #kgm^2
+    friction_coefficient: 0.22
+  ambient_system:
+    power: 20.0 # W
+  tool_system:
+    power: 0.0 # W
+  recharge_threshold: 0.10 # Battery level below which robots in this fleet will not operate
+  recharge_soc: 1.0 # Battery level to which robots in this fleet should be charged up to during recharging tasks
+  max_delay: 15.0 # allowed seconds of delay of the current itinerary before it gets interrupted and replanned
+  publish_fleet_state: 10.0 # Publish frequency for fleet state, ensure that it is same as robot_state_update_frequency
+  account_for_battery_drain: True
+  task_capabilities: # Specify the types of RMF Tasks that robots in this fleet are capable of performing
+    loop: True
+    delivery: True
+  finishing_request: "charge" # [park, charge, nothing]
+  robots:
+    deliveryRobot1:
+      charger: "deliveryRobotCharger1"
+    deliveryRobot2:
+      charger: "deliveryRobotCharger2"
+
+fleet_manager:
+  ip: "127.0.0.1"
+  port: 22012
+  user: "some_user"
+  password: "some_password"
+  robot_state_update_frequency: 10.0
diff --git a/nexus_integration_tests/config/rmf/depot.building.yaml b/nexus_integration_tests/config/rmf/depot.building.yaml
@@ -0,0 +1,98 @@
+coordinate_system: reference_image
+crowd_sim:
+  agent_groups:
+    - {agents_name: [deliveryRobot1, deliveryRobot2], agents_number: 2, group_id: 0, profile_selector: external_agent, state_selector: external_static, x: 0, y: 0}
+  agent_profiles:
+    - {ORCA_tau: 1, ORCA_tauObst: 0.40000000000000002, class: 1, max_accel: 0, max_angle_vel: 0, max_neighbors: 10, max_speed: 0, name: external_agent, neighbor_dist: 5, obstacle_set: 1, pref_speed: 0, r: 0.25}
+  enable: 0
+  goal_sets: []
+  model_types: []
+  obstacle_set: {class: 1, file_name: L1_navmesh.nav, type: nav_mesh}
+  states:
+    - {final: 1, goal_set: -1, name: external_static, navmesh_file_name: ""}
+  transitions: []
+  update_time_step: 0.10000000000000001
+graphs:
+  {}
+levels:
+  L1:
+    drawing:
+      filename: depot_scan.png
+    elevation: 0
+    lanes:
+      - [14, 15, {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]}]
+      - [14, 18, {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]}]
+      - [19, 15, {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]}]
+      - [22, 17, {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]}]
+      - [20, 22, {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]}]
+      - [21, 22, {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]}]
+      - [22, 23, {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]}]
+      - [17, 16, {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]}]
+      - [16, 24, {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]}]
+      - [24, 25, {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]}]
+      - [15, 26, {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]}]
+      - [26, 27, {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]}]
+      - [27, 23, {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]}]
+      - [16, 28, {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]}]
+      - [23, 29, {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]}]
+      - [29, 30, {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]}]
+      - [29, 18, {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]}]
+      - [24, 31, {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]}]
+      - [31, 18, {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]}]
+      - [32, 33, {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]}]
+      - [33, 34, {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]}]
+      - [34, 35, {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]}]
+      - [35, 36, {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]}]
+      - [25, 33, {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]}]
+      - [34, 18, {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:
+      {}
+    measurements:
+      - [0, 1, {distance: [3, 30.199999999999999]}]
+    models:
+      - {dispensable: false, model_name: OpenRobotics/FoodCourtTable1, name: OpenRobotics/FoodCourtTable1, static: true, x: 152.75, y: 95.497, yaw: 3.1415999999999999, z: 0}
+      - {dispensable: false, model_name: OpenRobotics/FoodCourtTable1, name: OpenRobotics/FoodCourtTable1, static: true, x: 152.67400000000001, y: 114.333, yaw: 3.1415999999999999, z: 0}
+      - {dispensable: false, model_name: OpenRobotics/FoodCourtTable1, name: OpenRobotics/FoodCourtTable1, static: true, x: 152.773, y: 133.21299999999999, yaw: 3.1415999999999999, z: 0}
+      - {dispensable: false, model_name: OpenRobotics/FoodCourtTable1, name: OpenRobotics/FoodCourtTable1, static: true, x: 152.874, y: 171.666, yaw: 3.1415999999999999, z: 0}
+      - {dispensable: false, model_name: OpenRobotics/FoodCourtTable1, name: OpenRobotics/FoodCourtTable1, static: true, x: 152.941, y: 209.636, yaw: -3.1415999999999999, z: 0}
+      - {dispensable: false, model_name: OpenRobotics/FoodCourtTable1, name: OpenRobotics/FoodCourtTable1, static: true, x: 152.941, y: 190.61699999999999, yaw: 3.1415999999999999, z: 0}
+    vertices:
+      - [0.104, 307.17000000000002, 0, ""]
+      - [604.029, 307.00799999999998, 0, ""]
+      - [2.0099999999999998, 1.994, 0, ""]
+      - [602.91899999999998, 1.0029999999999999, 0, ""]
+      - [603.96900000000005, 301.74000000000001, 0, ""]
+      - [1.7090000000000001, 304.33499999999998, 0, ""]
+      - [147.125, 72.120000000000005, 0, ""]
+      - [157.90799999999999, 72.030000000000001, 0, ""]
+      - [158.08799999999999, 82.813999999999993, 0, ""]
+      - [146.76499999999999, 82.903999999999996, 0, ""]
+      - [147.178, 222.09899999999999, 0, ""]
+      - [158.00399999999999, 222.04900000000001, 0, ""]
+      - [158.05500000000001, 233.12899999999999, 0, ""]
+      - [147.02600000000001, 233.02699999999999, 0, ""]
+      - [266.71499999999997, 281.97899999999998, 0, ""]
+      - [336.75999999999999, 281.38200000000001, 0, ""]
+      - [386.298, 26.616, 0, ""]
+      - [531.37300000000005, 25.829000000000001, 0, ""]
+      - [269.13, 166.73500000000001, 0, ""]
+      - [336.38900000000001, 243.58099999999999, 0, "", {is_holding_point: [4, true]}]
+      - [565.23000000000002, 112.59399999999999, 0, deliveryRobotCharger1, {is_charger: [4, true], is_holding_point: [4, true], is_parking_spot: [4, true], spawn_robot_name: [1, deliveryRobot1], spawn_robot_type: [1, DeliveryRobot]}]
+      - [565.84900000000005, 136.12799999999999, 0, deliveryRobotCharger2, {is_charger: [4, true], is_holding_point: [4, true], is_parking_spot: [4, true], spawn_robot_name: [1, deliveryRobot2], spawn_robot_type: [1, DeliveryRobot]}]
+      - [531.54300000000001, 124.38500000000001, 0, ""]
+      - [530.75400000000002, 166.578, 0, ""]
+      - [312.75099999999998, 26.198, 0, ""]
+      - [183.06100000000001, 26.294, 0, ""]
+      - [564.48400000000004, 281.22500000000002, 0, ""]
+      - [564.399, 166.97300000000001, 0, ""]
+      - [386.291, 67.531999999999996, 0, "", {is_holding_point: [4, true]}]
+      - [448.29300000000001, 167.16200000000001, 0, ""]
+      - [448.29300000000001, 197.09399999999999, 0, "", {is_holding_point: [4, true]}]
+      - [313.17000000000002, 124.905, 0, ""]
+      - [169.52799999999999, 94.926000000000002, 0, workcell_1, {is_holding_point: [4, true], is_parking_spot: [4, false], pickup_dispenser: [1, workcell_1]}]
+      - [182.399, 94.969999999999999, 0, ""]
+      - [182.173, 151.29400000000001, 0, ""]
+      - [182.316, 208.959, 0, ""]
+      - [169.35300000000001, 209.273, 0, workcell_2, {dropoff_ingestor: [1, workcell_2], is_holding_point: [4, true], is_parking_spot: [4, false], pickup_dispenser: [1, workcell_2]}]
+lifts: {}
+name: depot
diff --git a/nexus_integration_tests/config/rmf/depot.world b/nexus_integration_tests/config/rmf/depot.world
@@ -0,0 +1,72 @@
+<sdf version="1.7">
+  <world name="sim_world">
+    <physics name="10ms" type="ode">
+      <max_step_size>0.01</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+    <plugin filename="libgz-sim-physics-system.so" name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin filename="libgz-sim-user-commands-system.so" name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin filename="libgz-sim-scene-broadcaster-system.so" name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <scene>
+      <ambient>1 1 1</ambient>
+      <background>0.8 0.8 0.8</background>
+      <grid>false</grid>
+    </scene>
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>1 1 1 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.09</constant>
+        <linear>0.001</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+    <include>
+      <name>deliveryRobot1</name>
+      <uri>https://fuel.gazebosim.org/1.0/Open-RMF/models/DeliveryRobot</uri>
+      <pose>28.2650087111177 -5.6303989363968405 0.0 0 0 -2.804903289267812</pose>
+    </include>
+    <include>
+      <name>deliveryRobot2</name>
+      <uri>https://fuel.gazebosim.org/1.0/Open-RMF/models/DeliveryRobot</uri>
+      <pose>28.29596255361046 -6.807245025612636 0.0 0 0 2.811792456645858</pose>
+    </include>
+    <rmf_charger_waypoints name="charger_waypoints">
+      <rmf_vertex name="deliveryRobotCharger1" x="28.2650087111177" y="-5.6303989363968405" level="L1" />
+      <rmf_vertex name="deliveryRobotCharger2" x="28.29596255361046" y="-6.807245025612636" level="L1" />
+    </rmf_charger_waypoints>
+  </world>
+</sdf>