Open-rmf integration with ros1 noetic robot (#468)

Open-RMF Open-RMF General
1

Posted by @[Missing data]:

Description:
I successfully used Free Fleet to send commands from a server to my ROS1 robot simulation client. Now, I want to integrate RMF to achieve the same functionality, where the server can command the robot through RMF. I need assistance with the integration process.

Environment:

ROS2 Version: [Galactic]
ROS1 Version: [ Noetic]
Operating System: [Ubuntu 20.04]
ROS2-ROS1 Bridge: Installed
RMF :installed on ros2 humble

Steps Taken:

-Installed RMF following the official documentation.
-Installed ROS1-ROS2 bridge.
-Sourced ROS1, ROS2, and RMF setup files.
-Sent task commands from the server to the robot using Free_fleet.

Main Problem :
i need practical steps to integrate open-rmf with all it’s functionalities with my ros1 robot and free_fleet (im new to this )
,also ,if using free_fleet then integrating it using fleet adapter isn’t the right way to do it ,please let me know

thanks !

2

Posted by @aaronchongth:

Hi @Oussamadal! As a sanity check, is your environment information accurate? Because it looks like you have ROS 2 Galactic, but RMF with ROS 2 Humble? Our tests and support are currently covering ROS 2 Humble onwards, so you may run into compatibility issues. I would encourage migrating your system to Ubuntu 22.04 and ROS 2 Humble.

As for integration, free_fleet is currently the more out-of-the-box solution when integrating with the ROS 1 navigation stack, the integration however requires using the full_control fleet adapter, you can reference launching it from rmf_demos/rmf_demos/launch/include/adapters/tinyRobot_adapter.launch.xml at galactic · open-rmf/rmf_demos · GitHub

It should work, but will be lacking all the more recent features of Open-RMF

3

Posted by @[Missing data]:

thank you for your reply ,im running free fleet server on ros2 Galactic but im running rmf on a docker container on ros 2 Humble