nexus_demos package

.gitignore

@@ -2,3 +2,4 @@ __pycache__/
 /thirdparty/
 .vscode/
 *.ikcache
+*/.rmf_schedule_node.yaml

README.md

@@ -67,12 +67,17 @@ Further detailed instructions on running the Zenoh bridges with said configurati
 
 ## Demos
 
+### Two workcells
+
 ![](./docs/media/nexus_demo.png)
 
 Follow instructions [here](nexus_integration_tests/README.md) to run pick and place demonstrations with a line comprising of two workcells that perform different types of tasks.
 
-TODO: Add a dedicated demo package.
+### Simulated workcells and Open-RMF
+
+![](./docs/media/nexus_demo_depot.png)
 
+Follow insturctions [here](nexus_demos/README.md).
 
 ## Generating Endpoints
 

nexus_demos/CMakeLists.txt

@@ -0,0 +1,23 @@
+cmake_minimum_required(VERSION 3.16)
+set(PROJECT_NAME nexus_demos)
+project(${PROJECT_NAME})
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY launch config maps DESTINATION share/${PROJECT_NAME})
+
+# Refactored from rmf_demos_maps, we just need to download models
+file(GLOB_RECURSE traffic_editor_paths "maps/*.building.yaml")
+foreach(building_map_path ${traffic_editor_paths})
+  ##############################################################################
+  # Downloads Models
+  ##############################################################################
+  if (NOT NO_DOWNLOAD_MODELS)
+    message("DOWNLOADING MODELS WITH COMMAND: ros2 run rmf_building_map_tools building_map_model_downloader ${building_map_path}")
+    execute_process(
+      COMMAND ros2 run rmf_building_map_tools building_map_model_downloader ${building_map_path} -e ~/.gazebo/models
+    )
+  endif()
+endforeach()
+
+ament_package()

nexus_demos/README.md

@@ -0,0 +1,66 @@
+# nexus_demos
+
+Nexus demo map using the [Depot](https://app.gazebosim.org/OpenRobotics/fuel/models/Depot) world, integrated with Open-RMF.
+
+## Build
+
+Build `nexus_demos`,
+
+```bash
+colcon build --packages-up-to nexus_demos
+```
+
+## Launch
+
+Launch the demo,
+
+```bash
+source ~/ws_nexus/install/setup.bash
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+ros2 launch nexus_demos depot.launch.xml headless:=0
+```
+
+Start the `pick_and_place_rmf` work order,
+
+```bash
+source ~/ws_nexus/install/setup.bash
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+cd ~/ws_nexus/src/nexus_demos
+
+ros2 action send_goal /system_orchestrator/execute_order nexus_orchestrator_msgs/action/ExecuteWorkOrder "{order: {id: '23', work_order: '$(cat config/pick_and_place_rmf.json)'}}"
+```
+
+## Regenerating the simulation world file and nav graph
+
+Source build of `rmf_building_map_tools` is required, at least from commit hash [0d18f59](https://github.com/open-rmf/rmf_traffic_editor/tree/0d18f593356fa2e4de0dbfa297ae1fba66b8e101) onwards.
+
+Generate world file,
+
+```bash
+# Source the workspace where rmf_building_map_tools is built
+
+cd ~/ws_nexus/src/nexus/nexus_demos
+
+ros2 run rmf_building_map_tools building_map_generator gazebo \
+  maps/depot/depot.building.yaml \
+  maps/depot/depot.world \
+  maps/depot/models \
+  --TEMPLATE_WORLD_FILE maps/depot/template/depot_world.sdf \
+  --SKIP_CAMERA_POSE
+```
+
+Generate navigation graphs,
+
+```bash
+cd ~/ws_nexus/src/nexus/nexus_demos
+
+ros2 run rmf_building_map_tools building_map_generator nav \
+  maps/depot/depot.building.yaml \
+  maps/depot/nav_graphs
+```
+
+## Troubleshooting
+
+* If any of the commands give an error regarding `Failed to find a free participant index`, please also set the cyclonedds config with `export CYCLONEDDS_URI=$HOME/ws_nexus/src/nexus_integration_tests/config/cyclonedds/cyclonedds.xml`, which increases the maximum number of participants.

nexus_integration_tests/config/office/tinyRobot_config.yaml → nexus_demos/config/depot/deliveryRobot_config.yaml

@@ -2,47 +2,45 @@
 # RMF Fleet parameters
 
 rmf_fleet:
-  name: "tinyRobot"
+  name: "deliveryRobot"
   limits:
-    linear: [0.5, 0.75] # velocity, acceleration
+    linear: [0.7, 0.75] # velocity, acceleration
     angular: [0.6, 2.0] # velocity, acceleration
   profile: # Robot profile is modelled as a circle
-    footprint: 0.3 # radius in m
-    vicinity: 0.5 # radius in m
+    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: 12.0 # V
-    capacity: 24.0 # Ahr
-    charging_current: 5.0 # A
+    voltage: 24.0 # V
+    capacity: 40.0 # Ahr
+    charging_current: 8.8 # A
   mechanical_system:
-    mass: 20.0 # kg
-    moment_of_inertia: 10.0 #kgm^2
+    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
-  actions: ["teleop"]
-  finishing_request: "park" # [park, charge, nothing]
-  responsive_wait: True # Should responsive wait be on/off for the whole fleet by default? False if not specified.
-  reassign_task_interval: 120 # seconds, specify how often a task reassignment should be triggered in the fleet
+  finishing_request: "charge" # [park, charge, nothing]
   robots:
-    tinyRobot1:
-        charger: "tinyRobot1_charger"
-        responsive_wait: False # Should responsive wait be on/off for this specific robot? Overrides the fleet-wide setting.
-    tinyRobot2:
-        charger: "tinyRobot2_charger"
-        # No mention of responsive_wait means the fleet-wide setting will be used
+    deliveryRobot1:
+      charger: "deliveryRobotCharger1"
+    deliveryRobot2:
+      charger: "deliveryRobotCharger2"
 
 fleet_manager:
   ip: "127.0.0.1"
-  port: 22011
+  port: 22012
   user: "some_user"
   password: "some_password"
+  robot_state_update_frequency: 10.0

nexus_integration_tests/launch/office.launch.xml → nexus_demos/launch/depot.launch.xml

@@ -9,8 +9,8 @@
   <include file="$(find-pkg-share rmf_demos)/common.launch.xml">
     <arg name="headless" value="$(var headless)" />
     <arg name="use_sim_time" value="$(var use_simulator)"/>
-    <arg name="viz_config_file" value ="$(find-pkg-share nexus_integration_tests)/launch/include/office/office.rviz"/>
-    <arg name="config_file" value="$(find-pkg-share nexus_integration_tests)/office/office.building.yaml"/>
+    <arg name="viz_config_file" value ="$(find-pkg-share nexus_demos)/launch/include/depot/depot.rviz"/>
+    <arg name="config_file" value="$(find-pkg-share nexus_demos)/maps/depot/depot.building.yaml"/>
   </include>
 
   <!-- Nexus Common launch -->
@@ -19,35 +19,37 @@
     <arg name="use_sim_time" value="$(var use_simulator)"/>
   </include>
 
-  <!-- TinyRobot fleet adapter -->
+  <!-- DeliveryRobot fleet adapter -->
   <group>
     <include file="$(find-pkg-share rmf_demos_fleet_adapter)/launch/fleet_adapter.launch.xml">
-      <arg name="use_sim_time" value="$(var use_simulator)"/>
-      <arg name="nav_graph_file" value="$(find-pkg-share nexus_integration_tests)/maps/office/nav_graphs/0.yaml" />
-      <arg name="config_file" value="$(find-pkg-share nexus_integration_tests)/config/office/tinyRobot_config.yaml"/>
+      <arg name="use_sim_time" value="$(var use_sim_time)"/>
+      <arg name="nav_graph_file" value="$(find-pkg-share nexus_demos)/maps/depot/nav_graphs/0.yaml" />
+      <arg name="config_file" value="$(find-pkg-share nexus_demos)/config/depot/deliveryRobot_config.yaml"/>
     </include>
   </group>
 
   <node pkg="nexus_workcell_orchestrator" exec="nexus_workcell_orchestrator" name="rmf_nexus_transporter" output="both">
     <param name="capabilities" value="[nexus::capabilities::RMFRequestCapability]"/>
-    <param name="bt_path" value="$(find-pkg-share nexus_integration_tests)/config/rmf_bts"/>
+    <param name="bt_path" value="$(find-pkg-share nexus_demos)/config/rmf_bts"/>
   </node>
 
   <!-- Simulator launch -->
   <include if="$(var use_simulator)" file="$(find-pkg-share rmf_demos_gz)/simulation.launch.xml">
     <arg name="headless" value="$(var headless)" />
-    <arg name="map_package" value="nexus_integration_tests" />
-    <arg name="map_name" value="office" />
+    <arg name="map_package" value="nexus_demos" />
+    <arg name="map_name" value="depot" />
     <arg name="gazebo_version" value="8" />
     <arg name="sim_update_rate" value="$(var sim_update_rate)"/>
   </include>
 
-  <!-- Bringup from integration tests -->
-  <!-- TODO(luca) should we move the integration launch here instead? -->
-  <include file="$(find-pkg-share nexus_integration_tests)/launch/launch.py">
+  <!-- Bringup orchestrators -->
+  <include file="$(find-pkg-share nexus_demos)/launch/include/depot/launch.py">
     <!-- Set as true to make it auto bringup and remove all the extra rviz launches -->
     <arg name="headless" value="true" />
     <arg name="use_sim_time" value="$(var use_simulator)"/>
+    <arg name="main_bt_package" value="nexus_demos"/>
+    <arg name="main_bt_filename" value="main_rmf.xml"/>
+    <arg name="system_orchestrator_remap_task_types" value="{pick_and_place_rmf: [place_on_amr, pick_from_amr]}"/>
   </include>
 
 </launch>

nexus_integration_tests/launch/include/office/office.rviz → nexus_demos/launch/include/depot/depot.rviz

@@ -81,9 +81,9 @@ Visualization Manager:
       Enabled: true
       Name: MarkerArray
       Namespaces:
-        tinyRobot/labels/L1: true
-        tinyRobot/lanes/L1: true
-        tinyRobot/waypoints/L1: true
+        deliveryRobot/labels/L1: true
+        deliveryRobot/lanes/L1: true
+        deliveryRobot/waypoints/L1: true
       Topic:
         Depth: 5
         Durability Policy: Transient Local