From 9e4d9ed4d225b50c8f94182d4e5ef1ab16e73e0f Mon Sep 17 00:00:00 2001
From: Aaron Chong <aaronchongth@gmail.com>
Date: Wed, 15 Jan 2025 16:34:56 +0800
Subject: [PATCH 1/2] Basic RMF map, using sed, while still depending on
 rmf_demos and rmf_demos_gz

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
---
 nexus_integration_tests/CMakeLists.txt        |  85 ++++++-
 .../config/depot/deliveryRobot_config.yaml    |  46 ++++
 .../launch/depot.launch.xml                   |  34 +++
 .../launch/include/depot/depot.rviz           | 229 ++++++++++++++++++
 .../maps/depot/depot.building.yaml            |  98 ++++++++
 .../maps/depot/depot_scan.png                 | Bin 0 -> 4987 bytes
 nexus_integration_tests/package.xml           |   5 +
 7 files changed, 496 insertions(+), 1 deletion(-)
 create mode 100644 nexus_integration_tests/config/depot/deliveryRobot_config.yaml
 create mode 100644 nexus_integration_tests/launch/depot.launch.xml
 create mode 100644 nexus_integration_tests/launch/include/depot/depot.rviz
 create mode 100644 nexus_integration_tests/maps/depot/depot.building.yaml
 create mode 100644 nexus_integration_tests/maps/depot/depot_scan.png

diff --git a/nexus_integration_tests/CMakeLists.txt b/nexus_integration_tests/CMakeLists.txt
index ea520122..dde98451 100644
--- 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 DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY launch config rviz scripts maps DESTINATION share/${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/)
@@ -177,3 +177,86 @@ if(BUILD_TESTING)
 endif()
 
 ament_package()
+
+# Modified from rmf_demos_maps
+# Get absolute path of the building map
+set(building_map "maps/depot/depot.building.yaml")
+get_filename_component(building_map_path ${building_map} REALPATH)
+
+# Get the output world name
+string(REGEX REPLACE "\\.[^.]*\.[^.]*$" "" no_extension_path ${building_map_path})
+string(REGEX MATCH "[^\/]+$" world_name  ${no_extension_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 ${building_map_path} ${output_world_path} ${output_model_dir}")
+if (NO_DOWNLOAD_MODELS)
+  add_custom_command(
+    DEPENDS ${building_map_path}
+    COMMAND ros2 run rmf_building_map_tools building_map_generator gazebo ${building_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 ${building_map_path}")
+  add_custom_command(
+    DEPENDS ${building_map_path}
+    COMMAND ros2 run rmf_building_map_tools building_map_generator gazebo ${building_map_path} ${output_world_path} ${output_model_dir}
+    COMMAND ros2 run rmf_building_map_tools building_map_model_downloader ${building_map_path} -e ~/.gazebo/models
+    OUTPUT ${output_world_path}
+  )
+endif()
+
+##############################################################################
+# Make changes to generated world file. To be removed after
+# rmf_traffic_editor#524 has been released, to use custom template files
+##############################################################################
+
+# Insert Depot model
+set(inserted_depot_phony ${output_dir}/inserted_depot_phony)
+add_custom_command(
+  DEPENDS ${output_world_path}
+  COMMAND sed -i 's|<\/light>|<\/light>\\n<include><uri>https:\/\/fuel.gazebosim.org\/1.0\/OpenRobotics\/models\/Depot<\/uri><pose>15.15 -7.525 0 0 0 0<\/pose><\/include>|g' ${output_world_path}
+  OUTPUT ${inserted_depot_phony}
+)
+add_custom_target(insert_depot_into_${output_world_name} ALL
+  DEPENDS ${inserted_depot_phony}
+)
+
+# Change camera view
+set(replace_camera_view_phony ${output_dir}/replace_camera_view_phony)
+add_custom_command(
+  DEPENDS ${output_world_path}
+  COMMAND sed -i 's|<camera_pose>.*<\/camera_pose>|<camera_pose>5.2453 -7.8138 3.8271 0 0.5849817 0.2531771<\/camera_pose>|g' ${output_world_path}
+  OUTPUT ${replace_camera_view_phony}
+)
+add_custom_target(replace_camera_pose_in_${output_world_name} ALL
+  DEPENDS ${replace_camera_view_phony}
+)
+
+##############################################################################
+# 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 ${building_map_path} ${output_nav_graphs_dir}
+  DEPENDS ${building_map_path} ${output_world_path}
+)
+
+add_custom_target(generate_${output_world_name}_nav_graphs ALL
+  DEPENDS ${output_nav_graphs_phony}
+)
+
+install(
+  DIRECTORY ${output_dir}
+  DESTINATION share/${PROJECT_NAME}/maps
+)
diff --git a/nexus_integration_tests/config/depot/deliveryRobot_config.yaml b/nexus_integration_tests/config/depot/deliveryRobot_config.yaml
new file mode 100644
index 00000000..2fcea949
--- /dev/null
+++ b/nexus_integration_tests/config/depot/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/launch/depot.launch.xml b/nexus_integration_tests/launch/depot.launch.xml
new file mode 100644
index 00000000..d39b4bf2
--- /dev/null
+++ b/nexus_integration_tests/launch/depot.launch.xml
@@ -0,0 +1,34 @@
+<?xml version='1.0' ?>
+
+<launch>
+  <arg name="headless" default="true"/>
+  <arg name="use_simulator" default="true"/>
+  <arg name="sim_update_rate" default='100'/>
+
+  <!-- RMF Common launch -->
+  <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/depot/depot.rviz"/>
+    <arg name="config_file" value="$(find-pkg-share nexus_integration_tests)/maps/depot/depot.building.yaml"/>
+  </include>
+
+  <!-- DeliveryRobot fleet adapter -->
+  <group>
+    <include file="$(find-pkg-share rmf_demos_fleet_adapter)/launch/fleet_adapter.launch.xml">
+      <arg name="use_sim_time" value="$(var use_sim_time)"/>
+      <arg name="nav_graph_file" value="$(find-pkg-share nexus_integration_tests)/maps/depot/nav_graphs/0.yaml" />
+      <arg name="config_file" value="$(find-pkg-share nexus_integration_tests)/config/depot/deliveryRobot_config.yaml"/>
+    </include>
+  </group>
+
+  <!-- Simulator launch -->
+  <include if="$(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="depot" />
+    <arg name="gazebo_version" value="8" />
+    <arg name="sim_update_rate" value="$(var sim_update_rate)"/>
+  </include>
+
+</launch>
diff --git a/nexus_integration_tests/launch/include/depot/depot.rviz b/nexus_integration_tests/launch/include/depot/depot.rviz
new file mode 100644
index 00000000..50fe7029
--- /dev/null
+++ b/nexus_integration_tests/launch/include/depot/depot.rviz
@@ -0,0 +1,229 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 138
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /MarkerArray3/Topic1
+        - /MarkerArray4/Topic1
+      Splitter Ratio: 0.5
+    Tree Height: 303
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rmf_visualization_rviz2_plugins/SchedulePanel
+    Finish: 600
+    Map: L1
+    Name: SchedulePanel
+    Topic: /rmf_visualization/parameters
+  - Class: rmf_visualization_rviz2_plugins/DoorPanel
+    Name: DoorPanel
+  - Class: nexus_rviz_plugins/NEXUSPanel
+    Name: NEXUSPanel
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: false
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: false
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: MarkerArray
+      Namespaces:
+        body: true
+        name: true
+        nose: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /fleet_markers
+      Value: true
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: MarkerArray
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /schedule_markers
+      Value: true
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: MarkerArray
+      Namespaces:
+        deliveryRobot/labels/L1: true
+        deliveryRobot/lanes/L1: true
+        deliveryRobot/waypoints/L1: true
+      Topic:
+        Depth: 5
+        Durability Policy: Transient Local
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map_markers
+      Value: true
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: MarkerArray
+      Namespaces:
+        coe_door: true
+        coe_door_text: true
+        hardware_door: true
+        hardware_door_text: true
+        main_door: true
+        main_door_text: true
+      Topic:
+        Depth: 5
+        Durability Policy: Transient Local
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /building_systems_markers
+      Value: true
+    - Alpha: 0.699999988079071
+      Binary representation: false
+      Binary threshold: 100
+      Class: rviz_default_plugins/Map
+      Color Scheme: map
+      Draw Behind: true
+      Enabled: true
+      Name: Map
+      Topic:
+        Depth: 5
+        Durability Policy: Transient Local
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /floorplan
+      Update Topic:
+        Depth: 5
+        Durability Policy: Transient Local
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /floorplan_updates
+      Use Timestamp: false
+      Value: true
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: MarkerArray
+      Namespaces:
+        body: true
+        name: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /workcell_markers
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Angle: 0
+      Class: rviz_default_plugins/TopDownOrtho
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Scale: 74.29730224609375
+      Target Frame: <Fixed Frame>
+      Value: TopDownOrtho (rviz_default_plugins)
+      X: 14.163299560546875
+      Y: -7.102552890777588
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  DoorPanel:
+    collapsed: false
+  Height: 1215
+  Hide Left Dock: false
+  Hide Right Dock: true
+  NEXUSPanel:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001ff00000465fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000006e00000191000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fc0000003d00000341000002080100001cfa000000000100000003fb0000001a005300630068006500640075006c006500500061006e0065006c0100000000ffffffff0000018e00fffffffb000000120044006f006f007200500061006e0065006c0100000000ffffffff0000015800fffffffb000000120052004d0046002000500061006e0065006c0100000000000003340000000000000000fb00000014004e004500580055005300500061006e0065006c01000003840000011e0000009c00ffffff000000010000015f00000765fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000006e00000765000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000064f0000046500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  SchedulePanel:
+    collapsed: false
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 2132
+  X: 0
+  Y: 27
diff --git a/nexus_integration_tests/maps/depot/depot.building.yaml b/nexus_integration_tests/maps/depot/depot.building.yaml
new file mode 100644
index 00000000..37b4119d
--- /dev/null
+++ b/nexus_integration_tests/maps/depot/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/maps/depot/depot_scan.png b/nexus_integration_tests/maps/depot/depot_scan.png
new file mode 100644
index 0000000000000000000000000000000000000000..bfc74d938e4c3328a61eb6b8226fbbedf2d3b76a
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A?EnA(

literal 0
HcmV?d00001

diff --git a/nexus_integration_tests/package.xml b/nexus_integration_tests/package.xml
index 2cb79d99..3c1c8039 100644
--- a/nexus_integration_tests/package.xml
+++ b/nexus_integration_tests/package.xml
@@ -9,6 +9,7 @@
 
   <build_depend>nexus_endpoints</build_depend>
   <build_depend>nexus_network_configuration</build_depend>
+  <build_depend>rmf_building_map_tools</build_depend>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
@@ -42,6 +43,10 @@
   <exec_depend>nexus_workcell_orchestrator</exec_depend>
   <exec_depend>nexus_zenoh_bridge_dds_vendor</exec_depend>
 
+  <!-- To be removed -->
+  <exec_depend>rmf_demos</exec_depend>
+  <exec_depend>rmf_demos_gz</exec_depend>
+
   <test_depend>ament_cmake_catch2</test_depend>
   <test_depend>ament_index_cpp</test_depend>
   <test_depend>rcpputils</test_depend>

From a8727dc3235ddf4c6dc6cf23ffe4433f2937baac Mon Sep 17 00:00:00 2001
From: Aaron Chong <aaronchongth@gmail.com>
Date: Wed, 15 Jan 2025 22:09:49 +0800
Subject: [PATCH 2/2] Revamped map

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
---
 nexus_integration_tests/CMakeLists.txt        |   2 +-
 .../maps/depot/depot.building.yaml            | 140 +++++++++++-------
 2 files changed, 88 insertions(+), 54 deletions(-)

diff --git a/nexus_integration_tests/CMakeLists.txt b/nexus_integration_tests/CMakeLists.txt
index dde98451..2e1404cf 100644
--- a/nexus_integration_tests/CMakeLists.txt
+++ b/nexus_integration_tests/CMakeLists.txt
@@ -233,7 +233,7 @@ add_custom_target(insert_depot_into_${output_world_name} ALL
 set(replace_camera_view_phony ${output_dir}/replace_camera_view_phony)
 add_custom_command(
   DEPENDS ${output_world_path}
-  COMMAND sed -i 's|<camera_pose>.*<\/camera_pose>|<camera_pose>5.2453 -7.8138 3.8271 0 0.5849817 0.2531771<\/camera_pose>|g' ${output_world_path}
+  COMMAND sed -i 's|<camera_pose>.*<\/camera_pose>|<camera_pose>1.6679 -8.2494 4.3953 0 0.4919176 0<\/camera_pose>|g' ${output_world_path}
   OUTPUT ${replace_camera_view_phony}
 )
 add_custom_target(replace_camera_pose_in_${output_world_name} ALL
diff --git a/nexus_integration_tests/maps/depot/depot.building.yaml b/nexus_integration_tests/maps/depot/depot.building.yaml
index 37b4119d..8e203e69 100644
--- a/nexus_integration_tests/maps/depot/depot.building.yaml
+++ b/nexus_integration_tests/maps/depot/depot.building.yaml
@@ -20,42 +20,59 @@ levels:
       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]}]
+      - [14, 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, 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]}]
       - [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]}]
+      - [33, 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]}]
+      - [32, 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]}]
+      - [33, 39, {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]}]
+      - [39, 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]}]
+      - [39, 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]}]
+      - [23, 21, {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, 40, {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]}]
+      - [40, 20, {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, 41, {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, 41, {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]}]
+      - [41, 42, {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]}]
+      - [42, 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]}]
+      - [42, 43, {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]}]
+      - [43, 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]}]
+      - [32, 44, {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]}]
+      - [44, 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]}]
+      - [44, 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, 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]}]
+      - [24, 45, {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]}]
+      - [45, 19, {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, 46, {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]}]
+      - [46, 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]}]
+      - [46, 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]}]
+      - [26, 47, {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]}]
+      - [47, 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]}]
+      - [32, 48, {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, 49, {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]}]
+      - [40, 50, {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]}]
+      - [50, 51, {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]}]
+      - [51, 45, {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]}]
+      - [51, 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]}]
+      - [50, 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]}]
+      - [43, 52, {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]}]
+      - [52, 50, {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]}]
+      - [52, 37, {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]}]
+      - [47, 53, {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]}]
+      - [53, 51, {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]}]
+      - [53, 38, {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}
+      - {dispensable: false, model_name: OpenRobotics/FoodCourtTable1, name: OpenRobotics/FoodCourtTable1, static: true, x: 172.245, y: 77.856999999999999, yaw: -1.5708, z: 0}
+      - {dispensable: false, model_name: OpenRobotics/FoodCourtTable1, name: OpenRobotics/FoodCourtTable1, static: true, x: 202.22999999999999, y: 77.543999999999997, yaw: -1.5708, z: 0}
+      - {dispensable: false, model_name: OpenRobotics/FoodCourtTable1, name: OpenRobotics/FoodCourtTable1, static: true, x: 233.27799999999999, y: 77.787000000000006, yaw: -1.5708, z: 0}
+      - {dispensable: false, model_name: OpenRobotics/FoodCourtTable1, name: OpenRobotics/FoodCourtTable1, static: true, x: 233.08099999999999, y: 227.29900000000001, yaw: -1.5708, z: 0}
+      - {dispensable: false, model_name: OpenRobotics/FoodCourtTable1, name: OpenRobotics/FoodCourtTable1, static: true, x: 170.91800000000001, y: 227.88, yaw: -1.5708, z: 0}
+      - {dispensable: false, model_name: OpenRobotics/FoodCourtTable1, name: OpenRobotics/FoodCourtTable1, static: true, x: 200.86500000000001, y: 227.678, yaw: -1.5708, z: 0}
     vertices:
       - [0.104, 307.17000000000002, 0, ""]
       - [604.029, 307.00799999999998, 0, ""]
@@ -71,28 +88,45 @@ levels:
       - [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]}]
+      - [115.205, 288.38099999999997, 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]}]
+      - [140.63999999999999, 288.38099999999997, 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]}]
+      - [172.816, 93.954999999999998, 0, workcell_1, {dropoff_ingestor: [1, workcell_1], is_holding_point: [4, false], is_parking_spot: [4, false], pickup_dispenser: [1, workcell_1]}]
+      - [203.01499999999999, 93.954999999999998, 0, workcell_2, {dropoff_ingestor: [1, workcell_2], is_holding_point: [4, false], is_parking_spot: [4, false], pickup_dispenser: [1, workcell_2]}]
+      - [171.20500000000001, 211.53, 0, workcell_4]
+      - [233.88499999999999, 94.088999999999999, 0, workcell_3]
+      - [232.946, 210.72399999999999, 0, workcell_6]
+      - [201.00200000000001, 210.99299999999999, 0, workcell_5]
+      - [129.33600000000001, 263.25999999999999, 0, ""]
+      - [201.50200000000001, 191.55000000000001, 0, ""]
+      - [202.22999999999999, 112.71599999999999, 0, ""]
+      - [172.14500000000001, 61.473999999999997, 0, ""]
+      - [202.95699999999999, 45.524999999999999, 0, ""]
+      - [202.61199999999999, 61.340000000000003, 0, ""]
+      - [233.61699999999999, 61.473999999999997, 0, ""]
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+      - [234.01900000000001, 244.00999999999999, 0, ""]
+      - [129.02199999999999, 112.849, 0, ""]
+      - [129.02199999999999, 192.608, 0, ""]
+      - [128.39400000000001, 47.220999999999997, 0, ""]
+      - [277.78199999999998, 112.36499999999999, 0, "", {is_holding_point: [4, true], is_parking_spot: [4, true]}]
+      - [277.17099999999999, 190.756, 0, "", {is_holding_point: [4, true], is_parking_spot: [4, true]}]
+      - [276.28899999999999, 261.47699999999998, 0, "", {is_holding_point: [4, true], is_parking_spot: [4, true]}]
+      - [271.67399999999998, 33.701999999999998, 0, "", {is_holding_point: [4, true], is_parking_spot: [4, true]}]
+      - [170.51900000000001, 191.94900000000001, 0, ""]
+      - [232.31899999999999, 191.471, 0, ""]
+      - [170.75800000000001, 262.577, 0, ""]
+      - [201.06100000000001, 262.577, 0, ""]
+      - [233.989, 261.86099999999999, 0, ""]
+      - [173.14400000000001, 112.73, 0, ""]
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+      - [172.667, 46.874000000000002, 0, ""]
+      - [233.751, 45.680999999999997, 0, ""]
+      - [108.16800000000001, 113.374, 0, "", {is_holding_point: [4, true], is_parking_spot: [4, true]}]
+      - [106.72, 192.43000000000001, 0, "", {is_holding_point: [4, true], is_parking_spot: [4, true]}]
+      - [257.82799999999997, 191.16300000000001, 0, ""]
+      - [257.55700000000002, 112.70399999999999, 0, ""]
+      - [258.10000000000002, 261.74900000000002, 0, ""]
+      - [252.398, 44.832999999999998, 0, ""]
 lifts: {}
 name: depot