nicholas-gs / rmf_gym

rmf_gym

Welcome! rmf_gym aims to provide the following for the Robotics Middleware Framework ( RMF ):

• Practical Tutorials
• Testing infrastructure
• Documentation

Tutorials

This gym means to offer a more hands-on approach to learning RMF, we will make reference to the ROS2 Multi Robot Book for extensive explanations.

The practical tutorials can be found here.

rmf_gym_worlds

The package rmf_gym_worlds contains many RMF worlds that are optimized for simulation testing. There are also tutorials that teach you how to craft your own testing world. They are also standard in size to help hardware in the loop testing.

It is easy to tweak the gym worlds to include your hardware for testing, by physically running your robot alongside other simulated robots / infrastructure.

There are also tools to run automated tests, by automating all launch processes. ( The following gif is running without human interference )

Tools are included to spawn your robot based on waypoint labels for more convenient and reproducible testing.

rmf_gym_tools

The package rmf_gym_tools contain scripts and automation that help with testing RMF. These can be run standalone or put into test launch files. You can send pre-determined tasks to replicate tricky scenarios, or infinitely send random tasks to see how long the system lasts.

Vagrant Machine Image

A Vagrantfile is provided to create a Virtual Machine with rmf_gym all set up. This could be a quick way to try out rmf_gym, although there is a pretty significant performance penalty to it.

You should check that both your container / VM and your host install the same graphics drivers. For example, if you use nvidia graphics drivers on your host, you should use that as well in the vagrant VM. Otherwise, you might encounter GLXContext errors when running GUI apps like gazebo, or rviz.

Install Vagrant and install VirtualBox, then run:

# For virtualbox, you might need to install python
sudo apt install python ( python-is-python2 )
# You should also modify the Vagrantfile according to the amount of RAM you can provide to the VM, at least 8GB if you build from source.

vagrant up                # Provision VM
vagrant ssh-config        # For ssh information
vagrant ssh               # Get a terminal

# You can now run RMF and tools on the provisioned VM
source /opt/ros/foxy/setup.bash
source $HOME/rmf_ws/install/setup.bash
ros2 launch rmf_demos office.launch.xml

# If the GUI is giving errors or is too slow
ros2 launch rmf_demos office.launch.xml headless:=1

Alternatively, you can also download a pre-built box from Vagrant Cloud:

VAGRANT_VAGRANTFILE=Vagrantfile.cloud vagrant up
VAGRANT_VAGRANTFILE=Vagrantfile.cloud vagrant ssh

source /opt/ros/foxy/setup.bash
source $HOME/rmf_ws/install/setup.bash
ros2 launch rmf_demos office.launch.xml

# If the GUI is giving errors or is too slow
ros2 launch rmf_demos office.launch.xml headless:=1

Examples

base

simple_door

simple_lift

simple_deconfliction

More to come!