RMF2 Task Scheduler

Manages task schedules for RMF and RMF2.

Requirements

• ROS 2 Humble
• ROS 2 Jazzy

Documentation

See the documentation on how to use it

Quick Setup

Create a colcon workspace.

export COLCON_WS=~/colcon_ws
mkdir -p $COLCON_WS/src
cd $COLCON_WS

Download the source code.

cd src
git clone https://github.com/ros-industrial/rmf_scheduler.git

Install dependencies.

source /opt/ros/humble/setup.bash
rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y

Build.

cd ..
colcon build

Quick Demo

• Python API Server Demo

Docker

Docker Build

After cloning the repository, run the following commands in the same directory:

cd ./rmf2_scheduler
docker build . -t rmf2_scheduler:local

Docker Run

After the image is built, you can run and access the container using:

docker run -it --net=host rmf2_scheduler:local bash

After which you can run the modules from the packages, for example rmf2_scheduler_server_py.

rmf2_scheduler_server_py

The server should be accessible on your local device on localhost:8000 as the command was ran with --net=host. You can open a browser and navigate to http://localhost:8000/docs to see if the swagger webpage is accessible.

Support

This repository is developed by ROS Industrial Consortium Asia Pacific

Contributing

Guidelines on contributing to this repo can be found here.