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Robotics Middleware Framework (RMF) Demo

Join the Security Working Group for another ROS 2 system demo next week! On Tuesday January 26 at 9AM EST, @marcoag will present rmf_core and the Robotics Middleware Framework.

“The Robotics Middleware Framework (RMF) enables interoperability among heterogeneous robot fleets while managing robot traffic that share resources such as space, building infrastructure systems (lifts, doors, etc) and other automation systems within the same facility. RMF also handles task allocation and conflict resolution among its participants (de-conflicting traffic lanes and other resources).”

See this short video demo of RMF in action:

This session continues the Security Working Group’s goal to document a fully-enabled ROS 2 security implementation for a real-world, moderately complex system using SROS2. Hope to see you there, but if you’re unable to attend in person, we’ll follow up with a link to the session recording.

Meeting Details:

Join by telephone:
(‪US‬) ‪+1 617-675-4444‬
PIN: ‪214 742 925 0180#‬
More phone numbers


Thanks to @marcogg for a great overview of RMF at the Security Working Group meeting this week! If you’re interested in multi-robot systems but missed the demo, you can find it on youtube in the ROS 2 Working Groups channel. Presentation slides are also available.

Some highlights from the video:

  • 5:01 (slide 4) - RMF is about multi-robot systems. Challenges include interoperabilities, testing , infrastructure and security

  • 7:03 (slide 7) - RMF interacts with doors and lifts, handle test planning and allocation, fleet traffic, management and workcell interaction

  • 8:07 (slide 11) - The core system takes care of allocation tasks, traffic management, etc. Adapters can connect to different parts of the infrastructure.

  • 9:32 (slide 12) - RMF simplifies / standardizes messages. It is a system of systems synthesizer, allowing different systems to talk in different protocols; plugins translate between protocols. Also provides standard messages.

  • 15:30 (slide 16) - RMF can resolve unexpected conflicts in a dynamic envionment.

  • 18:26 (slide 22) - The RMF toolbox includes:

    • Traffic editor: annotate floor plans
    • Building map tools
    • Testing; able to use Ignition Robotics models
    • rmf_core provides integration with rmf
  • 20:30 (slide 28) - RMF includes UI signalling

  • 21:00 (slide 29) - Use the operations dashboard for monitoring schedules and trajectories. The dashboard is migrating from rviz (foxy release) to web-based (build from source).

  • 23:26 Demonstration

  • 29:35 (slide 32) - Security challenges.


  • 33:25 Can you expand on the human component of your security concerns?

  • 43:40 How do you define trust boundaries, set up your certificate hierarchy?

  • 50:04 Where do we start with simulating RMF?

  • 58:08 Revoking certificates. See also the secure version of the office demo.

  • 1:01:15 Is RMF ready for prime time? What is the short term plan for RMF?

  • 1:04:10 What about “fake” robots connecting to the fleet managers?


The following links were shared during the presentation: