This repository contains the open source fleet adapter for integrating OpenRMF with LionsBot's robots. The different robot families adapters are in their respective directory.
Currently, fleet adapters are developed and has been tested for these supported families of robots:
| Fleet adapter | Robot family | Robot type |
|---|---|---|
| fleet_adapter_leoscrub | Leobot | LeoScrub |
| fleet_adapter_r3 | R3 | Scrub, Vac, Scrub Pro |
| RMF Version | Installation Instructions | Supported distros | Supported ROS2 versions |
|---|---|---|---|
| 21.09 | Installation Instructions | Ubuntu 20.04, Ubuntu 21.09, RHEL 8 (deployment only) | Foxy, Galactic |
| Task | Description |
|---|---|
| dispatch_clean | send a cleaning task with specified zone |
| cancel_task | cancel a specified task |
| dispatch_go_to_place | send a navigation task with a specified location |
| pause_task | pause the task of a specified robot |
| continue_task | resume the task of a specified robot |
NOTE:
pause_taskandcontinue_taskare custom tasks. The python scripts have to be added into where the rest of the official tasks are located.
ros2 run fleet_adapter_r3 fleet_adapter_r3 -c config.yaml -n nav_graph.yaml -d dock_summary.yaml