Robotics Middleware Framework (RMF)

The OpenRMF platform for multi-fleet robot management.

For specific rmf versions follow the instructions given below:

Installation Instructions

These are the current Open-RMF binary releases available:

RMF Version	Installation Instructions	Supported distros	Supported ROS2 versions
21.09	Installation instructions	Ubuntu 20.04, Ubuntu 21.09, RHEL 8 (deployment only)	Foxy, Galactic
22.02	Installation instructions	Ubuntu 22.04	Humble

Building from sources

Additional Dependencies

Install all non-ROS dependencies of OpenRMF packages,

sudo apt update && sudo apt install \
  git cmake python3-vcstool curl \
  qt5-default \
  -y
python3 -m pip install flask-socketio fastapi uvicorn
sudo apt-get install python3-colcon*

Install rosdep

rosdep helps install dependencies for ROS packages across various distros. It can be installed with:

sudo apt install python3-rosdep
sudo rosdep init
rosdep update

Download the source code

Setup a new ROS 2 workspace and pull in the demo repositories using vcs,

mkdir -p ~/rmf_ws/src
cd ~/rmf_ws
wget https://raw.githubusercontent.com/open-rmf/rmf/main/rmf.repos
vcs import src < rmf.repos

Ensure all ROS 2 prerequisites are fulfilled,

you can subsutitute your distro name for <your ros distro>

Example: for galactic

cd ~/rmf_ws
rosdep install --from-paths src --ignore-src --rosdistro galactic -y

Compiling Instructions

NOTE: Due to newer changes in the source build, there might be conflicts and compilation errors with older header files installed by the binaries. Please remove the binary installations before building from source, using sudo apt remove ros-galactic-rmf*.

Compiling on Ubuntu 20.04:

cd ~/rmf_ws
source /opt/ros/<your ros distro>/setup.bash
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

NOTE: The first time the build occurs, many simulation models will be downloaded from Ignition Fuel to populate the scene when the simulation is run. As a result, the first build can take a very long time depending on the server load and your Internet connection (for example, 60 minutes).

Docker Containers

Alternatively, you can run RMF Demos by using docker.

Pull docker image from open-rmf/rmf github registry (setup refer here).

docker pull ghcr.io/open-rmf/rmf/rmf_demos:latest
docker tag ghcr.io/open-rmf/rmf/rmf_demos:latest rmf:latest

Run it!

docker run -it --network host rmf:latest bash -c "export ROS_DOMAIN_ID=9; ros2 launch rmf_demos_gz office.launch.xml headless:=1"

This will run rmf_demos in headless mode. Open this link with a browser to start a task.

(Experimental) User can also run rmf_demos in “non-headless” graphical form, via rocker.

Run RMF Demos

Demonstrations of OpenRMF are shown in rmf_demos.

Roadmap

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

Integrating with RMF

Instructions on how to integrate your system with OpenRMF can be found here.

Open sourced fleet adapters

A number of commercial robots have been integrated with RMF and links to their adapters are available below.

Gaussian Ecobots
OTTO Motors (and robots running the Clearpath Autonomy stack)
Mobile Industrial Robots: MiR
Temi- the personal robot

Help us add to this list!

A helpful starting point for integrating your fleet with RMF is the fleet_adapter_template package.

thedevmanek / rmf