Add chart_lab map, zone-related task & launch for GoToZone feature

rmf_demos/config/chart_lab/deliveryRobot_config.yaml

@@ -0,0 +1,44 @@
+# FLEET CONFIG =================================================================
+# RMF Fleet parameters
+
+rmf_fleet:
+  name: "deliveryRobot"
+  limits:
+    linear: [0.7, 0.75] # velocity, acceleration
+    angular: [0.6, 2.0] # velocity, acceleration
+  profile: # Robot profile is modelled as a circle
+    footprint: 0.6 # radius in m
+    vicinity: 0.8 # radius in m
+  reversible: True # whether robots in this fleet can reverse
+  # TODO Update battery parameters with actual specs
+  battery_system:
+    voltage: 24.0 # V
+    capacity: 40.0 # Ahr
+    charging_current: 8.8 # A
+  mechanical_system:
+    mass: 70.0 # kg
+    moment_of_inertia: 40.0 #kgm^2
+    friction_coefficient: 0.22
+  ambient_system:
+    power: 20.0 # W
+  tool_system:
+    power: 0.0 # W
+  recharge_threshold: 0.10 # Battery level below which robots in this fleet will not operate
+  recharge_soc: 1.0 # Battery level to which robots in this fleet should be charged up to during recharging tasks
+  max_delay: 15.0 # allowed seconds of delay of the current itinerary before it gets interrupted and replanned
+  publish_fleet_state: 10.0 # Publish frequency for fleet state, ensure that it is same as robot_state_update_frequency
+  account_for_battery_drain: True
+  task_capabilities: # Specify the types of RMF Tasks that robots in this fleet are capable of performing
+    loop: True
+    delivery: True
+  finishing_request: "nothing" # [park, charge, nothing]
+  robots:
+    deliveryBot_1:
+      charger: "d_charger"
+
+fleet_manager:
+  ip: "127.0.0.1"
+  port: 22012
+  user: "some_user"
+  password: "some_password"
+  robot_state_update_frequency: 10.0

rmf_demos/config/chart_lab/tinyRobot_config.yaml

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+# FLEET CONFIG =================================================================
+# RMF Fleet parameters
+
+rmf_fleet:
+  name: "tinyRobot"
+  limits:
+    linear: [0.5, 0.75] # velocity, acceleration
+    angular: [0.6, 2.0] # velocity, acceleration
+  profile: # Robot profile is modelled as a circle
+    footprint: 0.3 # radius in m
+    vicinity: 0.5 # radius in m
+  reversible: True # whether robots in this fleet can reverse
+  battery_system:
+    voltage: 12.0 # V
+    capacity: 24.0 # Ahr
+    charging_current: 5.0 # A
+  mechanical_system:
+    mass: 20.0 # kg
+    moment_of_inertia: 10.0 #kgm^2
+    friction_coefficient: 0.22
+  ambient_system:
+    power: 20.0 # W
+  tool_system:
+    power: 0.0 # W
+  recharge_threshold: 0.10 # Battery level below which robots in this fleet will not operate
+  recharge_soc: 1.0 # Battery level to which robots in this fleet should be charged up to during recharging tasks
+  publish_fleet_state: 10.0 # Publish frequency for fleet state, ensure that it is same as robot_state_update_frequency
+  account_for_battery_drain: False
+  task_capabilities: # Specify the types of RMF Tasks that robots in this fleet are capable of performing
+    loop: True
+    delivery: True
+  actions: ["teleop"]
+  finishing_request: "nothing" # [park, charge, nothing]
+  responsive_wait: False # Should responsive wait be on/off for the whole fleet by default? False if not specified.
+  use_parking_reservations: True
+  reassign_task_interval: 120 # seconds, specify how often a task reassignment should be triggered in the fleet
+  robots:
+    tinyBot_1:
+        charger: "t_charger"
+        responsive_wait: False # Should responsive wait be on/off for this specific robot? Overrides the fleet-wide setting.
+
+fleet_manager:
+  ip: "127.0.0.1"
+  port: 22011
+  user: "some_user"
+  password: "some_password"

rmf_demos/launch/chart_lab.launch.xml

@@ -0,0 +1,31 @@
+<?xml version='1.0' ?>
+
+<launch>
+  <arg name="use_sim_time" default="false"/>
+
+  <!-- Common launch -->
+  <include file="$(find-pkg-share rmf_demos)/common.launch.xml">
+    <arg name="use_sim_time" value="$(var use_sim_time)"/>
+    <arg name="viz_config_file" value ="$(find-pkg-share rmf_demos)/include/chart_lab/chart_lab.rviz"/>
+    <arg name="config_file" value="$(find-pkg-share rmf_demos_maps)/chart_lab/chart_lab.building.yaml"/>
+    <arg name="use_reservation_node" value="true"/>
+  </include>
+
+  <!-- DeliveryRobot fleet adapter -->
+  <group>
+    <include file="$(find-pkg-share rmf_demos_fleet_adapter)/launch/fleet_adapter.launch.xml">
+      <arg name="use_sim_time" value="$(var use_sim_time)"/>
+      <arg name="nav_graph_file" value="$(find-pkg-share rmf_demos_maps)/maps/chart_lab/nav_graphs/0.yaml" />
+      <arg name="config_file" value="$(find-pkg-share rmf_demos)/config/chart_lab/deliveryRobot_config.yaml"/>
+    </include>
+  </group>
+
+  <!--  TinyRobot fleet adapter  -->
+  <group>
+    <include file="$(find-pkg-share rmf_demos_fleet_adapter)/launch/fleet_adapter.launch.xml">
+      <arg name="use_sim_time" value="$(var use_sim_time)"/>
+      <arg name="nav_graph_file" value="$(find-pkg-share rmf_demos_maps)/maps/chart_lab/nav_graphs/1.yaml"/>
+      <arg name="config_file" value="$(find-pkg-share rmf_demos)/config/chart_lab/tinyRobot_config.yaml"/>
+    </include>
+  </group>
+</launch>

rmf_demos/launch/common.launch.xml

@@ -82,5 +82,11 @@
     <node pkg="rmf_fleet_adapter" exec="mutex_group_supervisor"/>
   </group>
 
+  <!-- Zone Supervisor, manages zone bookings for robots -->
+  <group>
+    <node pkg="rmf_fleet_adapter" exec="zone_supervisor">
+      <param name="use_sim_time" value="$(var use_sim_time)"/>
+    </node>
+  </group>
 
 </launch>

rmf_demos/launch/include/chart_lab/chart_lab.rviz

@@ -0,0 +1,204 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 138
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /MarkerArray3/Topic1
+        - /MarkerArray4/Topic1
+      Splitter Ratio: 0.5
+    Tree Height: 270
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rmf_visualization_rviz2_plugins/SchedulePanel
+    Finish: 600
+    Map: L1
+    Name: SchedulePanel
+    Topic: /rmf_visualization/parameters
+  - Class: rmf_visualization_rviz2_plugins/DoorPanel
+    Name: DoorPanel
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: false
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: false
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: MarkerArray
+      Namespaces:
+        fleet_markers: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /fleet_markers
+      Value: true
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: MarkerArray
+      Namespaces:
+        participant 0: true
+        participant location 0: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /schedule_markers
+      Value: true
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: MarkerArray
+      Namespaces:
+        labels: true
+        map: true
+      Topic:
+        Depth: 5
+        Durability Policy: Transient Local
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map_markers
+      Value: true
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: MarkerArray
+      Namespaces:
+        coe_door: true
+        coe_door_text: true
+        hardware_door: true
+        hardware_door_text: true
+        main_door: true
+        main_door_text: true
+      Topic:
+        Depth: 5
+        Durability Policy: Transient Local
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /building_systems_markers
+      Value: true
+    - Alpha: 0.7
+      Class: rviz_default_plugins/Map
+      Color Scheme: map
+      Draw Behind: true
+      Enabled: true
+      Name: Map
+      Topic:
+        Depth: 5
+        Durability Policy: Transient Local
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /floorplan
+      Update Topic:
+        Depth: 5
+        Durability Policy: Transient Local
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /floorplan_updates
+      Use Timestamp: false
+      Value: true      
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Angle: 0
+      Class: rviz_default_plugins/TopDownOrtho
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Scale: 95.94175720214844
+      Target Frame: <Fixed Frame>
+      Value: TopDownOrtho (rviz_default_plugins)
+      X: 14.163299560546875
+      Y: -7.102552890777588
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  DoorPanel:
+    collapsed: false
+  Height: 1726
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd00000004000000000000033400000622fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000006e000001910000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fc0000006e000006220000062201000039fa000000020100000003fb0000001a005300630068006500640075006c006500500061006e0065006c0100000000ffffffff0000028300fffffffb000000120044006f006f007200500061006e0065006c0100000000ffffffff0000029300fffffffb000000120052004d0046002000500061006e0065006c0100000000000003340000033400ffffff000000010000015f00000765fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000006e000007650000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000006440000062200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  SchedulePanel:
+    collapsed: false
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 2436
+  X: 4064
+  Y: 116

rmf_demos_gz/launch/chart_lab.launch.xml

@@ -0,0 +1,20 @@
+<?xml version='1.0' ?>
+
+<launch>
+  <arg name="use_sim_time" default="true"/>
+  <arg name="failover_mode" default="false"/>
+  <arg name="sim_update_rate" default='100'/>
+
+  <!-- Common launch -->
+  <include file="$(find-pkg-share rmf_demos)/chart_lab.launch.xml">
+    <arg name="use_sim_time" value="$(var use_sim_time)"/>
+    <arg name="failover_mode" value="$(var failover_mode)"/>
+  </include>
+
+  <!-- Simulation launch -->
+  <include file="$(find-pkg-share rmf_demos_gz)/simulation.launch.xml">
+    <arg name="map_name" value="chart_lab" />
+    <arg name="sim_update_rate" value="$(var sim_update_rate)"/>
+  </include>
+
+</launch>