Fleet_adapter for custom robot in simulation (#598)

Open-RMF Open-RMF General
1

Posted by @0RBalaji:

Hey Guys. I want to implement the open-RMF on a navigation based AMR.
I have done the setup and created the .building.yaml file and navigation graphs for my custom environment and robot.
I wanted to know how to create the fleet adapter using the template.
Please help me on how to proceed with it.

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Posted by @aaronchongth:

Hi @0RBalaji, you can take a look at Mobile Robot Fleets - Programming Multiple Robots with ROS 2. Depending on the type of robot and software stack, you can select the integration method.

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Posted by @0RBalaji:

Hey @aaronchongth, thank you for taking time to reply my query.

I didn’t put my issue correctly. I want to fill the RobotClientAPI.py but have less resources or knowledge regarding it.
I referred the documentation you shared and got a basic idea of how the setup should look like.
I have a differential drive robot, with slam and navigation. I want to add the open-RMF on it. RIght now, I am want to send the RobotCommands to “cmd_vel” and have no idea of how to do it.
I have seen the template but unable to complete the code. Need help to complete it