rmf_core

The rmf_core packages provide the centralized functions of the Robotics Middleware Framework (RMF). These include task queuing, conflict-free resource scheduling, utilities to help create robot fleet adapters, and so on.

All packages in this repo will be written in ROS 2.

To create a useful deployment, rmf_core must be connected to many other subsystems, as shown in the following diagram.

FAQ

Answers to frequently asked questions can be found here.

Roadmap

A near-term roadmap of the entire RMF project (including and beyond rmf_core) can be found in the user manual here.

Interfacing with rmf_core

There are several interface points with RMF core, as shown in the arrows between the blue central box and the orange boxes in the diagram above. The goal of these interfaces is to create a "narrow" and simple set of messages that allow rmf_core to integrate with the following elements of a deployment:

Robot fleet integration

The rmf_fleet_msgs package contains four messages and is intended to carry the interactions between rmf_core and a vendor-provided (typically proprietary) fleet manager for a collection of robots. It is expected that a RMF deployment will consist of multiple robot fleets, often operating at different levels of RMF integration: for example, one fleet may only be willing to supply FleetState messages (observation-only) whereas another fleet in the same facility may be willing to follow RMF DestinationRequest messages. RMF is specifically designed to allow this type of "mixed levels of control" and to plan accordingly.

• rmf_fleet_msgs/FleetState on topic fleet_states. This message consists of a list of rmf_fleet_msgs/RobotState messages, each of which contains the state of a particular robot. This includes the level of the facility the robot is on, its X- and Y- offset (in meters) from the origin of that level's map, its current destination and path (if known), and so on.
• rmf_fleet_msgs/DestinationRequest on topic destination_requests is a request for a particular robot to go to a particular destination.
• rmf_fleet_msgs/ModeRequest on topic mode_requests is a request for a particular robot to change modes, for example, from MOVING to PAUSED, in order to preserve spatial separation between robots of different fleets.
• rmf_fleet_msgs/PathRequest on topic path_requests is a request for a particular robot to follow a particular path.

As mentioned above, several levels of integration are possible between RMF and vendor-controlled Fleet Managers. The following table captures the required messages for each integration feature. In general, the more integration features that are available for a particular fleet, the more efficient the combined system operations will be, because each integration feature gives additional options for rmf_core to perform traffic management. For example, a fleet that only supports the "state reporting" integration feature will always require that rmf_core totally clear its predicted travel lane of all other robots, whereas fleets that support "pause/resume motion" or "complete paths" allow many other potential options for de-conflicting robot traffic.

Integration Feature	Required Message	Default topic name
state reporting	rmf_fleet_msgs/FleetState	fleet_states
set destinations	rmf_fleet_msgs/DestinationRequest	destination_requests
pause/resume motion	rmf_fleet_msgs/ModeRequest	mode_requests
set complete paths	rmf_fleet_msgs/PathRequest	path_requests

Door integration

The rmf_door_msgs package contains two messages. This interface allows RMF to open and close motorized doors for robots as they move throughout a facility.

• rmf_door_msgs/DoorState messages are periodically sent by door controllers to rmf_core. These messages express the current mode of the door as CLOSED, MOVING, or OPEN
• rmf_door_msgs/DoorRequest messages are sent from rmf_core to doors when they need to open or close for robot operations.

Installation

Building rmf_core from source requires gcc version 8 or clang version 6 (or above)

mkdir ws_rmf/src -p
cd ws_rmf/src/
git clone https://github.com/osrf/rmf_core.git
cd ../
source /opt/ros/eloquent/setup.bash
rosdep update
rosdep install --from-paths src --ignore-src -yr
colcon build --cmake-args -DCMAKE_BUILD_TYPE=RELEASE

To manually override the compiler version, prefix the colcon command with the CXX parameter.

sudo apt update && sudo apt install g++-8
CXX=g++-8 colcon build --cmake-args -DCMAKE_BUILD_TYPE=RELEASE

Demonstrations

This repository holds a number of demonstrations and examples of working with rmf_core and the other packages in the RMF ecosystem.

Contributing

Guidelines on contributing to rmf_core and other RMF repositories can be found here.