Posted by @lmmir:
Is there a detailed and comprehensive tutorial for integrating real robots?
Posted by @akash-roboticist:
Since there can be many possible ways to integrate robots (of various capabilities), there is no singular answer to this. Please see -
- For demos with simulated robots - GitHub - open-rmf/rmf_demos: Demonstrations of Open-RMF
- For prod deployment setup (with option to add simulated robots) - GitHub - open-rmf/rmf_deployment_template: This repo provides a template to deploy RMF
- For available fleet adapters to use with demo or deployment - GitHub - open-rmf/awesome_adapters: A curated list of adapters from the community which can be used with Open-RMF
Posted by @lmmir:
I want to modify the rmf_demos project to integrate my real robot. How can I implement this quickly?
Posted by @akash-roboticist:
The ROS 2 multi robot book provides a comprehensive overview on this ; a link to the integration steps is also linked in rmf repo’s readme - GitHub - open-rmf/rmf: Root repository for the RMF software
Posted by @akshay-ka:
@lmmir did you make any progress on modifying the rmf_demos project to integrate a real robot ?
Posted by @Yadunund:
The launch files in rmf_demos are already setup to run with hardware. All you have to do is replace the fleet adapter with the fleet adapter to your real fleets. The rmf_demos_gz package contains launch files that include launch files from rmf_demos, update use_sim_time args, and start the Gazebo simulator.