restful fleet is a fleet manager package for RMF. The implementation of this package is largely based on free fleet. free fleet uses DDS as its middleware to communicate between the server and client. However, it can be cumbersome to allow DDS packets to be transferred across the Wide Area Network. Threfore the middleware implementation of restful fleet is using restful http requests.
cd <ws_path>/src
git clone https://github.com/Capstone-S13/restful_fleet.git
cd <ws_path>
colcon build --symlink-install
Before running the restful fleet client, be sure to run your robot's navigation stack with its movebase server.
cd <ws_path>
source install/setup.bash
rosrun restful_fleet_client main.py
There are four main classes in the restful fleet package.
- Server
- ServerNode
- Client
- ClientNode
The middleware specific components and methods are encapsulated within the Server and Client classes. In the case of restful fleet this refers to the flask app and the methods for making restful requests.
The ServerNode contains the ROS publishers, subscribers to publish and subscribe relevant information to and from the fleet adapter. The most basic function of the ServerNode is to publish it's fleet's robot_state into thefleet states topic and relay the path request and mode request to the robot client.
Likewise, the ServerNode contains ROS specific classes and callback functions. The ClientNode contains the publishers, subscribers, action client, action servers required determin the robot's state as well as to command the robot to carry out necessary tasks.
- Multi client discovery.
- ROS2 version of restful fleet client
- More efficient method of calling map service