Introduce a RMF transportation workcell (#42)

* Migrate to ros2dds bridge

Signed-off-by: Luca Della Vedova <[email protected]>

* Bump ros2dds bridge version to fix warning spam

Signed-off-by: Luca Della Vedova <[email protected]>

* Add source to transporter API

Signed-off-by: Luca Della Vedova <[email protected]>

* WIP first draft of RMF integration

Signed-off-by: Luca Della Vedova <[email protected]>

* Change signals to contain task ids

Signed-off-by: Luca Della Vedova <[email protected]>

* Move signaling from workcell to system orchestrator

Signed-off-by: Luca Della Vedova <[email protected]>

* Change RMF transporter to be a workcell instead

Signed-off-by: Luca Della Vedova <[email protected]>

* Fix cancellation, feedback

Signed-off-by: Luca Della Vedova <[email protected]>

* Add TransportAmr capability and RMF workcell

Signed-off-by: Luca Della Vedova <[email protected]>

* Revert transporter changes

Signed-off-by: Luca Della Vedova <[email protected]>

* Add missing dependency

Signed-off-by: Luca Della Vedova <[email protected]>

* Reintroduce signal queueing, cleanup debugs

Signed-off-by: Luca Della Vedova <[email protected]>

* Go back to task signaling

Signed-off-by: Luca Della Vedova <[email protected]>

* Remove backup files

Signed-off-by: Luca Della Vedova <[email protected]>

* Add visualization package

Signed-off-by: Luca Della Vedova <[email protected]>

* Add demo package based on rmf_demos

Signed-off-by: Luca Della Vedova <[email protected]>

* Remove printout

Signed-off-by: Luca Della Vedova <[email protected]>

* Move to nexus_integration_tests instead

Signed-off-by: Luca Della Vedova <[email protected]>

* Fix integration test

Signed-off-by: Luca Della Vedova <[email protected]>

* Fix repos file, reintroduce comprehensive test

Signed-off-by: Luca Della Vedova <[email protected]>

* Make sure AMRs are up before sending task

Signed-off-by: Luca Della Vedova <[email protected]>

* Fix copyrights for new files

Signed-off-by: Luca Della Vedova <[email protected]>

* Add dependency to yaml-cpp-vendor to nexus_capabilities

Signed-off-by: Luca Della Vedova <[email protected]>

* Remove ament_target_dependencies

Signed-off-by: Luca Della Vedova <[email protected]>

* Rename capability and add rmf namespace

Signed-off-by: Luca Della Vedova <[email protected]>

* AmrDestination -> Destination

Signed-off-by: Luca Della Vedova <[email protected]>

* Split main / rmf main and create new integration test

Signed-off-by: Luca Della Vedova <[email protected]>

* Move RMF orchestator to RMF launch file

Signed-off-by: Luca Della Vedova <[email protected]>

* Vendor RMF launch files, remove building_map_tools

Signed-off-by: Luca Della Vedova <[email protected]>

* Namespace, file renaming, copyright

Signed-off-by: Luca Della Vedova <[email protected]>

* Reuse nexus_msgs structs, event based publication

Signed-off-by: Luca Della Vedova <[email protected]>

* Remove nexus_visualization dependency

Signed-off-by: Luca Della Vedova <[email protected]>

* Remove nexus_visualization

Signed-off-by: Luca Della Vedova <[email protected]>

* Fix plugin path

Signed-off-by: Luca Della Vedova <[email protected]>

* Cleanup

Signed-off-by: Luca Della Vedova <[email protected]>

* Remove signaling at the system orchestrator level

Signed-off-by: Luca Della Vedova <[email protected]>

* Remove duplicated behavior trees and use remapping

Signed-off-by: Luca Della Vedova <[email protected]>

* Remove unnecessary variable

Signed-off-by: Luca Della Vedova <[email protected]>

* Update copyrights

Signed-off-by: Yadunund <[email protected]>

* Fix launch

Signed-off-by: Yadunund <[email protected]>

* Fix potential UB with comments, updated README to build with rmf.repos

Signed-off-by: Aaron Chong <[email protected]>

* Removed comments

Signed-off-by: Aaron Chong <[email protected]>

* Sim demo with models from fuel using template sdf (#62)

* Working with the same commands

Signed-off-by: Aaron Chong <[email protected]>

* Basic demo works with models

Signed-off-by: Aaron Chong <[email protected]>

* Moving enclosures, removing in-between, using nested models, moving camera

Signed-off-by: Aaron Chong <[email protected]>

* Use new released rmf_building_map_tools args, clean up, moved waypoints, added dispenser/ingestor

Signed-off-by: Aaron Chong <[email protected]>

* Clean up duplicated and unused files, use rmf_transporter

Signed-off-by: Aaron Chong <[email protected]>

* Remove duplicated depot

Signed-off-by: Aaron Chong <[email protected]>

---------

Signed-off-by: Aaron Chong <[email protected]>

* Use new DeliveryRobotWithConveyor model from fuel

Signed-off-by: Aaron Chong <[email protected]>

* Make remap_task_types and rviz_config launch args

Signed-off-by: Yadunund <[email protected]>

* Move maps into config/rmf

Signed-off-by: Yadunund <[email protected]>

* Also make bt_path and max_jobs launch args

Signed-off-by: Yadunund <[email protected]>

* rmf_demos_fleet_adapter available via rosdep

Signed-off-by: Yadunund <[email protected]>

* Set nested models as static as well

Signed-off-by: Aaron Chong <[email protected]>

* Rename dispatch_transporter to assign_transporter_workcell

Signed-off-by: Yadunund <[email protected]>

---------

Signed-off-by: Luca Della Vedova <[email protected]>
Signed-off-by: Yadunund <[email protected]>
Signed-off-by: Aaron Chong <[email protected]>
Co-authored-by: Yadunund <[email protected]>
Co-authored-by: Aaron Chong <[email protected]>

Author: 3 people

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(

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>

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>