Add chart_lab map, zone-related task & launch for GoToZone feature#350
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chart-singapore wants to merge 4 commits into
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Add chart_lab map, zone-related task & launch for GoToZone feature#350chart-singapore wants to merge 4 commits into
chart-singapore wants to merge 4 commits into
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Co-authored-by: Brandon Koh <brandonk10.10@gmail.com> Co-authored-by: kjchee <keai_jiang_chee@cgh.com.sg> Co-authored-by: Tey Leong Teck <leong_teck_tey@cgh.com.sg> Signed-off-by: Brandon Koh <brandonk10.10@gmail.com> Signed-off-by: kjchee <keai_jiang_chee@cgh.com.sg> Signed-off-by: Tey Leong Teck <leong_teck_tey@cgh.com.sg>
This was referenced Apr 18, 2026
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Signed-off-by: lttey <leong_teck_tey@cgh.com.sg>
xiyuoh
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Note for follow reviewers: See open-rmf/rmf_ros2#516 for the full table of relevant PRs/branches this PR depends on
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| finishing_request: # Optionally define any robot-specific finishing request. Overrides the fleet-wide setting. | ||
| type: "nothing" # [park, charge, nothing] | ||
| waypoint_name: "supplies" # This is a required field if the finishing_request type is "park" |
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I believe this should be removed since there is no supplies waypoint in the chart lab map
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| #!/usr/bin/env python3 | |||
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| # Copyright 2022 Open Source Robotics Foundation, Inc. | |||
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| # Copyright 2022 Open Source Robotics Foundation, Inc. | |
| # Copyright 2026 Open Source Robotics Foundation, Inc. |
Signed-off-by: Loke Ji Xian <loke_ji_xian@cgh.com.sg>
Signed-off-by: Loke Ji Xian <loke_ji_xian@cgh.com.sg>
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New feature implementation
Implemented feature
This is part of an 8-repo Simple GoToZone feature. Tracked in Stage A of open-rmf/rmf#726.
Adds a new chart_lab demo: a CHART Lab map with 1 tinyBot + 1 deliveryBot and a
consultationzone. The zone has priority-ordered internal waypoints with group labels. Also addsdispatch_zone, a small CLI for dispatching zone tasks with modifiers, and launch the zone supervisor node at common.launch.xml.To Test GoToZone Feature
a. default with only zone name
ros2 run rmf_demos_tasks dispatch_zone -z consultation --use_sim_timeb. with preferred group
ros2 run rmf_demos_tasks dispatch_zone -z consultation -g C --use_sim_timec. with preferred waypoint
ros2 run rmf_demos_tasks dispatch_zone -z consultation -w wait_3 --use_sim_timed. with orientation
ros2 run rmf_demos_tasks dispatch_zone -z consultation -o 1.57 --use_sim_timeros2 run rmf_demos_tasks dispatch_patrol -p d_charger --use_sim_timeros2 topic echo /zone_statesros2 topic pub --once /zone_manual_release rmf_zone_msgs/msg/ZoneManualRelease "{ stamp: {sec: 0, nanosec: 0}, robot_name: 'deliveryBot_1', fleet_name: 'deliveryRobot', zone_name: 'consultation' }"GenAI Use
We follow OSRA's policy on GenAI tools