rmf_demos_fleet_adapter
Fleet adapters for interfacing with RMF Demos robots with a fleet manager via REST API
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README
rmf_demos_fleet_adapter
This is an implementation of the python based fleet adapter template on selected RMF demo worlds: Hotel, Office, Airport Terminal and Clinic.
This fleet adapter integration relies on a fleet manager and a fleet adapter:
The fleet manager comprises of specific endpoints that help relay commands to the fleet’s robots. It communicates with the robots over internal ROS 2 messages, while interfacing with the adapter via an API chosen by the user. For this demo fleet adapter implementation, we are using REST API with FastAPI framework.
The fleet adapter receives commands from RMF and interfaces with the fleet manager to receive robot state information, as well as send task and navigation commands to the robots
Getting Started
Make sure the required dependencies are installed:
pip3 install fastapi uvicorn
# **Ensure the py libs version are 'fastapi>=0.79.0', 'uvicorn>=0.18.2'.
You can interact with the endpoints with FastAPI’s automatic documentation. First launch a demo world, then visit the base URL with /docs appended at the end. Do take note that the port number for each demo fleet is specified in rmf_demos/rmf_demos/config/.
Example
Launch the Office world:
source ~/rmf_ws/install/setup.bash
ros2 launch rmf_demos_gz_classic office.launch.xml
Then, visit http://127.0.0.1:22011/docs in your browser to interact with the endpoints.
Request/Response Schemas
Depending on the endpoint, the content may vary (i.e. some items may be removed), but a general structure is followed:
Request Body
{
"map_name": "string",
"task": "string",
"destination": {},
"data": {},
"speed_limit": 0.0
}
Response Body
{
"data": {},
"success": true,
"msg": ""
}1
API Endpoints
Note: The base URL in this section contains the port number 22011 dedicated to the tinyRobot fleet. The port number varies across different fleets.
1. Get Robot Status
The status endpoint allows the fleet adapter to access robot state information such as its current position and battery level. This endpoint does not require a Request Body.
There are two ways to request the fleet robot status:
a. Get status of all robots in the fleet
Request URL: http://127.0.0.1:22011/open-rmf/rmf_demos_fm/status/
Response Body:
{
"data": {
"all_robots": [
{
"robot_name": "tinyRobot1",
"map_name": "L1",
"position": {
"x": 10.0,
"y": 20.0,
"yaw": 1.0
},
"battery": 100,
"last_completed_request": 2,
"destination_arrival": {
"cmd_id": 3,
"duration": 14.3
}
},
{
"robot_name": "tinyRobot2",
"map_name": "L1",
"position": {
"x": 5.0,
"y": 25.0,
"yaw": 1.4
},
"battery": 100,
"last_completed_request": 3,
"destination_arrival": null,
"replan": true
}
]
},
"success": true,
"msg": ""
}
b. Get status of specified robot in the fleet
Append a robot_name query parameter to the end of the URL.
Request URL: http://127.0.0.1:22011/open-rmf/rmf_demos_fm/status/?robot_name=tinyRobot1
Response Body:
{
"data": {
"robot_name": "tinyRobot1",
"map_name": "L1",
"position": {
"x": 10.0,
"y": 20.0,
"yaw": 1.0
},
"battery": 100,
"last_completed_request": 2,
"destination_arrival": {
"cmd_id": 3,
"duration": 14.3
}
},
"success": true,
"msg": ""
}
3. Stop Robot
The stop endpoint allows the fleet adapter to command a specified robot to stop. This endpoint only requires a robot_name query parameter.
Request URL: http://127.0.0.1:22011/open-rmf/rmf_demos_fm/stop/?robot_name=tinyRobot1
Response Body:
{
"success": true,
"msg": ""
}
4. Send Task Request
The start_activity endpoint allows the fleet adapter to send task requests to a specified robot. This endpoint requires a Request Body and a robot_name query parameter.
Request URL: http://127.0.0.1:22011/open-rmf/rmf_demos_fm/start_activity/?robot_name=tinyRobot1
Request Body:
{
"map_name": "L1",
"task": "clean_lobby"
}
The fleet manager will respond by indicating what path the robot will follow while performing the activity.
Response Body:
{
"success": true,
"msg": "",
"data": {
"path": {
"map_name": "L1",
"path": [ ... ]
}
}
}