RMF fleet adapter nav2 for Ionic demo (#8)

* Add basic dispenser pick and place Signed-off-by: Luca Della Vedova <[email protected]> * Add rmf message to dependencies Signed-off-by: Luca Della Vedova <[email protected]> * Update branches / dependencies Signed-off-by: Luca Della Vedova <[email protected]> * Add nav2 and custom branch Signed-off-by: Luca Della Vedova <[email protected]> * Fix rviz and nav2 demo Signed-off-by: Luca Della Vedova <[email protected]> * Fleet adapter nav2 for Ionic demo (#5) * Add fleet adapter template Signed-off-by: Xiyu Oh <[email protected]> * Ac/tf listener (#1) * Basic TF listener, not tested yet Signed-off-by: Aaron Chong <[email protected]> * Started README Signed-off-by: Aaron Chong <[email protected]> --------- Signed-off-by: Aaron Chong <[email protected]> * Fleet adapter bringup (#3) * Working adapter but wrong tf read Signed-off-by: Xiyu Oh <[email protected]> * Fix reference coordinates, tfs,typo (#4) Signed-off-by: Aaron Chong <[email protected]> * Working fleet adapter with demo map Signed-off-by: Xiyu Oh <[email protected]> --------- Signed-off-by: Xiyu Oh <[email protected]> Signed-off-by: Aaron Chong <[email protected]> Co-authored-by: Aaron Chong <[email protected]> * Works with #1 Signed-off-by: Aaron Chong <[email protected]> * Update instructions Signed-off-by: Aaron Chong <[email protected]> * Ros package and nav2 demo (#1) * launching the demo world * Added new laser scan and updated launch file * Setting up ionic_demo as its own pacakge * Updated with gif * Clean up and add license * Remove unused launch file * Add media --------- Signed-off-by: Aaron Chong <[email protected]> Co-authored-by: Tully Foote <[email protected]> * Add docker file and workflow to publish docker images (#3) Signed-off-by: Addisu Z. Taddese <[email protected]> * Use composition for ros_gz and Gazebo in Nav2 launch files (#4) * Reimplements the turtlebot4 launch file from nav2_bringup in order to use composition for ros_gz and Gazebo. Hopefully, some of this will be upstreamed to Nav2. * This also updates the step size to 0.004 to speed up simulation Signed-off-by: Addisu Z. Taddese <[email protected]> * Add a tray to the turtlebot4 (#6) * Use composition for ros_gz and Gazebo in Nav2 launch files * Reimplements the turtlebot4 launch file from nav2_bringup in order to use composition for ros_gz and Gazebo. Hopefully, some of this will be upstreamed to Nav2. * This also updates the step size to 0.004 to speed up simulation Signed-off-by: Addisu Z. Taddese <[email protected]> * Add a tray to the turtlebot4 Signed-off-by: Addisu Z. Taddese <[email protected]> --------- Signed-off-by: Addisu Z. Taddese <[email protected]> --------- Signed-off-by: Xiyu Oh <[email protected]> Signed-off-by: Aaron Chong <[email protected]> Signed-off-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Xiyu Oh <[email protected]> Co-authored-by: Xiyu <[email protected]> Co-authored-by: Tully Foote <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]> * Add adapter to launch file Signed-off-by: Xiyu Oh <[email protected]> * Fix launch file and add exec depends Signed-off-by: Aaron Chong <[email protected]> * Add rest of dispenser logic, fix fleet adapter Signed-off-by: Luca Della Vedova <[email protected]> * Fix dispensor result / stage logic Signed-off-by: Luca Della Vedova <[email protected]> * Build docker image with RMF as well Signed-off-by: Aaron Chong <[email protected]> * Spawn teleport ingestor model Signed-off-by: Luca Della Vedova <[email protected]> * Change branch of ionic_demo Signed-off-by: Aaron Chong <[email protected]> * Add RMF to moveit launch Signed-off-by: Luca Della Vedova <[email protected]> * Target rmf.repos that allow skipping qt building plugins Signed-off-by: Aaron Chong <[email protected]> * Fix dependencies Signed-off-by: Luca Della Vedova <[email protected]> * Use correct flag to skip qt moc plugin builds Signed-off-by: Aaron Chong <[email protected]> * Revert to use rmf_simulation main, remove cmake flag (#7) * Revert to use rmf_simulation main, remove cmake flag Signed-off-by: Aaron Chong <[email protected]> * Remove wget and vcs step for rmf.repos Signed-off-by: Aaron Chong <[email protected]> --------- Signed-off-by: Aaron Chong <[email protected]> * Fix coordinates / names for delivery demo Signed-off-by: Luca Della Vedova <[email protected]> * Remove detachable joint and use normal gripping Signed-off-by: Luca Della Vedova <[email protected]> * Split launch files for single demos Signed-off-by: Luca Della Vedova <[email protected]> * Tune map, nav2 inflation layer, gripper close values, added dashboard… (#8) * Tune map, nav2 inflation layer, gripper close values, added dashboard build Signed-off-by: Aaron Chong <[email protected]> * Attempt to build dashboard image first Signed-off-by: Aaron Chong <[email protected]> * Add media, update readme, revert changes to workflow Signed-off-by: Aaron Chong <[email protected]> * One liner for dashboard url Signed-off-by: Xiyu Oh <[email protected]> * Move environment variables to moveit launch Signed-off-by: Luca Della Vedova <[email protected]> * Build dashboard with better robot zoom values, increase yaw tolerance for nav2 to prevent wobble Signed-off-by: Aaron Chong <[email protected]> * Increase yaw tolerance even more, revert workflow Signed-off-by: Aaron Chong <[email protected]> * Add gitignore Signed-off-by: Aaron Chong <[email protected]> --------- Signed-off-by: Aaron Chong <[email protected]> Signed-off-by: Xiyu Oh <[email protected]> Signed-off-by: Luca Della Vedova <[email protected]> Co-authored-by: Xiyu Oh <[email protected]> Co-authored-by: Luca Della Vedova <[email protected]> * Update dashboard docker image URL Signed-off-by: Aaron Chong <[email protected]> --------- Signed-off-by: Luca Della Vedova <[email protected]> Signed-off-by: Xiyu Oh <[email protected]> Signed-off-by: Aaron Chong <[email protected]> Signed-off-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Luca Della Vedova <[email protected]> Co-authored-by: Luca Della Vedova <[email protected]> Co-authored-by: Aaron Chong <[email protected]> Co-authored-by: Tully Foote <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Luca Della Vedova <[email protected]>
gazebosim · Sep 26, 2024 · 5e39cbb · 5e39cbb
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diff --git a/.github/dashboard/Dockerfile b/.github/dashboard/Dockerfile
@@ -0,0 +1,41 @@
+ARG BASE_IMAGE
+FROM $BASE_IMAGE
+ARG BRANCH=main
+
+### Build dashboard
+
+# fetch sources
+RUN mkdir -p /ws \
+  && curl -L https://github.com/open-rmf/rmf-web/archive/$BRANCH.tar.gz -o rmf_web.tar.gz \
+  && tar zxf rmf_web.tar.gz -C /ws --strip-components=1
+
+# install deps
+RUN cd /ws \
+  && pnpm install --filter rmf-dashboard...
+
+# replace configs and build
+COPY app-config.json /ws/packages/dashboard/app-config.json
+RUN cd /ws/packages/dashboard \
+  && pnpm run build
+
+### Set up bare minimum dashboard image
+
+FROM docker.io/ubuntu:24.04
+COPY --from=0 /ws/packages/dashboard/dist /opt/dashboard
+
+RUN apt update && apt install -y curl
+
+RUN curl -fsSL https://get.pnpm.io/install.sh | bash -
+# shell runs in non-interactive mode, which does not source .bashrc so we need to set the PATH manually
+ENV PNPM_HOME /root/.local/share/pnpm
+ENV PATH "$PNPM_HOME:$PATH"
+
+# nodejs seems to have changed the official mirror, the default in pnpm is very slow now
+RUN pnpm config -g set 'node-mirror:release' https://nodejs.org/dist && pnpm env use --global lts
+
+RUN npm install --global serve
+ENV PATH "$(npm bin -g):$PATH"
+
+COPY inject-env.sh /opt/inject-env.sh
+
+ENTRYPOINT ["bash", "-c", ". /opt/inject-env.sh && npx serve -s /opt/dashboard"]
diff --git a/.github/dashboard/app-config.json b/.github/dashboard/app-config.json
@@ -0,0 +1,43 @@
+{
+  "$schema": "https://raw.githubusercontent.com/open-rmf/rmf-web/main/packages/dashboard/app-config.schema.json",
+  "rmfServerUrl": "__RMF_SERVER_URL__",
+  "trajectoryServerUrl": "__TRAJECTORY_SERVER_URL__",
+  "authConfig": {},
+  "helpLink": "https://osrf.github.io/ros2multirobotbook/rmf-core.html",
+  "reportIssue": "https://github.com/open-rmf/rmf-web/issues",
+  "pickupZones": [],
+  "defaultZoom": 20,
+  "defaultRobotZoom": 70,
+  "attributionPrefix": "OSRC-SG",
+  "defaultMapLevel": "L1",
+  "allowedTasks": [
+    {
+      "taskDefinitionId": "patrol"
+    },
+    {
+      "taskDefinitionId": "delivery"
+    }
+  ],
+  "resources": {
+    "default": {
+      "fleets": {
+        "tb4": {
+          "default": {
+            "icon": "https://raw.githubusercontent.com/open-rmf/rmf_demos/rmf-web-dashboard-resources/rmf_demos_dashboard_resources/icons/tb4.png",
+            "scale": 0.00068
+          }
+        }
+      },
+      "logos": {
+        "header": "/resources/defaultLogo.png"
+      }
+    }
+  },
+  "cartIds": [],
+  "buildConfig": {
+    "baseUrl": "/",
+    "authProvider": "stub",
+    "customTabs": false,
+    "adminTab": false
+  }
+}
diff --git a/.github/dashboard/inject-env.sh b/.github/dashboard/inject-env.sh
@@ -0,0 +1,5 @@
+#!/usr/bin/bash
+set -e
+
+sed -i "s,__RMF_SERVER_URL__,${RMF_SERVER_URL},g" /opt/dashboard/index.html
+sed -i "s,__TRAJECTORY_SERVER_URL__,${TRAJECTORY_SERVER_URL},g" /opt/dashboard/index.html
diff --git a/.github/workflows/build_docker_image.yml b/.github/workflows/build_docker_image.yml
@@ -7,14 +7,14 @@ on:
   push:
     branches: ['main']
 
-
   # Allows you to run this workflow manually from the Actions tab
   workflow_dispatch:
 
 # Defines two custom environment variables for the workflow. These are used for the Container registry domain, and a name for the Docker image that this workflow builds.
 env:
   REGISTRY: ghcr.io
   IMAGE_NAME: ${{ github.repository }}
+  DASHBOARD_IMAGE_NAME: ${{ github.repository }}_rmf_dashboard
 
 # There is a single job in this workflow. It's configured to run on the latest available version of Ubuntu.
 jobs:
@@ -62,3 +62,41 @@ jobs:
           subject-name: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME}}
           subject-digest: ${{ steps.push.outputs.digest }}
           push-to-registry: true
+  build-and-push-dashboard-image:
+    runs-on: ubuntu-latest
+    # Sets the permissions granted to the `GITHUB_TOKEN` for the actions in this job.
+    permissions:
+      contents: read
+      packages: write
+      attestations: write
+      id-token: write
+      # 
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+      # Uses the `docker/login-action` action to log in to the Container registry registry using the account and password that will publish the packages. Once published, the packages are scoped to the account defined here.
+      - name: Log in to the Container registry
+        uses: docker/login-action@9780b0c442fbb1117ed29e0efdff1e18412f7567 # v3.3.0
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+      # This step uses [docker/metadata-action](https://github.com/docker/metadata-action#about) to extract tags and labels that will be applied to the specified image. The `id` "meta" allows the output of this step to be referenced in a subsequent step. The `images` value provides the base name for the tags and labels.
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@8e5442c4ef9f78752691e2d8f8d19755c6f78e81 # v5.5.1
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.DASHBOARD_IMAGE_NAME }}
+      # This step uses the `docker/build-push-action` action to build the image, based on your repository's `Dockerfile`. If the build succeeds, it pushes the image to GitHub Packages.
+      # It uses the `context` parameter to define the build's context as the set of files located in the specified path. For more information, see "[Usage](https://github.com/docker/build-push-action#usage)" in the README of the `docker/build-push-action` repository.
+      # It uses the `tags` and `labels` parameters to tag and label the image with the output from the "meta" step.
+      - name: Build and push Docker image
+        id: push
+        uses: docker/build-push-action@5cd11c3a4ced054e52742c5fd54dca954e0edd85 # v6.7.0
+        with:
+          context: .github/dashboard
+          push: true
+          build-args: |
+            BASE_IMAGE=ghcr.io/open-rmf/rmf-web/minimal-rmf:latest
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
diff --git a/.gitignore b/.gitignore
@@ -0,0 +1 @@
+**/__pycache__/
diff --git a/Dockerfile b/Dockerfile
@@ -2,7 +2,7 @@
 FROM ros:rolling
 ARG DEBIAN_FRONTEND=noninteractive
 RUN apt-get update \
-    && apt-get install -y dirmngr curl git python3 python3-docopt python3-yaml python3-distro sudo mesa-utils \
+    && apt-get install -y dirmngr curl git python3 python3-docopt python3-yaml python3-distro python3-pip sudo mesa-utils \
     && apt-get clean \
     && rm -rf /var/lib/apt/lists/*
 RUN git clone https://github.com/gazebo-tooling/gzdev \
@@ -20,6 +20,9 @@ RUN apt-get update \
     && apt-get clean \
     && rm -rf /var/lib/apt/lists/*
 
+# Install nudged via pip (required by rmf_fleet_adapter_python)
+RUN pip install nudged --break-system-packages
+
 RUN mkdir -p /root/ws/src
 WORKDIR /root/ws
 COPY ionic_demo.repos .
@@ -30,7 +33,7 @@ RUN apt-get update \
     && apt-get clean \
     && rm -rf /var/lib/apt/lists/*
 RUN . /opt/ros/rolling/setup.sh \
-      && MAKEFLAGS=-j6 GZ_RELAX_VERSION_MATCH=1 colcon build --symlink-install --packages-up-to ionic_demo
+      && MAKEFLAGS=-j6 GZ_RELAX_VERSION_MATCH=1 colcon build --symlink-install --packages-up-to ionic_demo --cmake-args -DNO_DOWNLOAD_MODELS=On
 COPY entrypoint.sh /ionic_entrypoint.sh
 ENTRYPOINT ["/ionic_entrypoint.sh"]
 CMD ["bash"]
diff --git a/README.md b/README.md
@@ -51,12 +51,52 @@ Navigation commands can now be sent via the `Nav2 Goal` button.
 
 ![](media/rviz-navigate.png)
 
-# Troubleshooting
+# Running the Open-RMF demo
 
-* If there are communication/middleware related issues while running the demos, we recommend trying again [using a different RMW implementation](https://docs.ros.org/en/jazzy/How-To-Guides/Working-with-multiple-RMW-implementations.html#specifying-rmw-implementations), for example `rmw_cyclonedds_cpp`.
+In order to minimize race conditions, we recommend running each launch file one after the other.
+
+Start the dashboard docker image,
+
+```
+docker run --network host -it --rm \
+  -e RMF_SERVER_URL=http://localhost:8000 \
+  -e TRAJECTORY_SERVER_URL=http://localhost:8006 \
+  ghcr.io/gazebosim/ionic_demo_rmf_dashboard:main
+```
+
+Start the API server docker image, make sure to note the `ROS_DOMAIN_ID` and `RMW_IMPLEMENTATION`. This starts the API server on `localhost:8000`.
 
+```
+docker run --network host -it --rm \
+  -e ROS_DOMAIN_ID=<ROS_DOMAIN_ID> \
+  -e RMW_IMPLEMENTATION=<RMW_IMPLEMENTATION> \
+  ghcr.io/open-rmf/rmf-web/api-server:rolling
+```
+The dashboard will be accessible at `localhost:3000` by default.
+
+Spawn the world and arm,
+
+```
+ros2 launch ionic_demo ionic_moveit_demo_launch.py
+```
 
-# TODOs
+Spawn the turtlebot4, start its nav2 stack, moveit plugin for the arm, and all other Open-RMF related nodes. This also lets the fleet adapter know to communicate with the API server on `localhost:8000/_internal`.
 
-* package descriptions
-* fleet adapter
+```
+ros2 launch ionic_demo ionic_rmf_demo_launch.py server_uri:="ws://localhost:8000/_internal"
+```
+
+Dispatch delivery or patrol tasks via `rmf-web`.
+
+![](media/rmf-web-1.png)
+![](media/rmf-web-2.png)
+
+Or dispatch the delivery task manually,
+
+```
+ros2 run rmf_demos_tasks dispatch_delivery -p bar -ph moveit_dispenser -d table_4 -dh coke_ingestor --use_sim_time -st 0
+```
+
+# Troubleshooting
+
+* If there are communication/middleware related issues while running the demos, we recommend trying again [using a different RMW implementation](https://docs.ros.org/en/jazzy/How-To-Guides/Working-with-multiple-RMW-implementations.html#specifying-rmw-implementations), for example `rmw_cyclonedds_cpp`.
diff --git a/fleet_adapter_nav2/README.md b/fleet_adapter_nav2/README.md
@@ -0,0 +1,47 @@
+# fleet_adapter_nav2
+
+Set up workspace
+
+```
+git clone https://github.com/open-rmf/rmf
+
+mkdir -p ws/src
+vcs import ws/src < rmf/rmf.repos
+
+cd ws/src
+git clone https://github.com/gazebosim/ionic_demo
+
+# rosdep
+# build
+```
+
+Run basic tb4 bringup, and set initial posititon
+
+```
+ros2 launch ionic_demo ionic_navigation_demo_launch.py
+```
+
+Start `rmf_demos` common packages
+
+```
+cd ws
+ros2 launch rmf_demos common.launch.xml headless:=1 use_sim_time:=true config_file:=src/ionic_demo/ionic_demo_building_maps/maps/ionic_demo/ionic_demo.building.yaml
+```
+
+Start `fleet_adapter_nav2`
+
+```
+ros2 run fleet_adapter_nav2 fleet_adapter -c src/ionic_demo/fleet_adapter_nav2/config/tb4_config.yaml -n install/ionic_demo_building_maps/share/ionic_demo_building_maps/maps/ionic_demo/nav_graphs/0.yaml -sim --ros-args -r /tf:=/tb4/tf
+```
+
+Send a task
+
+```
+ros2 run rmf_demos_tasks dispatch_patrol -p table_1 -n 1 -st 0 --use_sim_time
+```
+
+Send a delivery task
+
+```
+ros2 run rmf_demos_tasks dispatch_delivery -p bar -ph moveit_dispenser -d table_4 -dh coke_ingestor --use_sim_time
+```
diff --git a/fleet_adapter_nav2/config/tb4_config.yaml b/fleet_adapter_nav2/config/tb4_config.yaml
@@ -0,0 +1,58 @@
+# FLEET CONFIG =================================================================
+# RMF Fleet parameters
+
+rmf_fleet:
+  name: "tb4"
+  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: True
+  task_capabilities: # Specify the types of RMF Tasks that robots in this fleet are capable of performing
+    loop: True
+    delivery: True
+  actions: []
+  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.
+  robots:
+    tb4:
+        charger: "tb4_start"
+        # For robot API
+        map: "L1"
+        prefix: ""
+        target_frame: "map"
+        from_frame: "base_link"
+
+conversions:
+  reference_coordinates:
+    L1:
+      rmf: [[0.1, -1.2494],
+            [7.5464, -0.6497],
+            [10.3451, -5.3975],
+            [1.7492, -7.4465]]
+      tb4: [[-5.422642707824707, 3.07148814201355],
+            [2.0564370155334473, 3.6545846462249756],
+            [4.780905723571777, -1.036746859550476],
+            [-3.804450511932373, -3.1021950244903564]]
+
+  map:
+    # rmf to tb4
+    L1: 'map'
diff --git a/fleet_adapter_nav2/fleet_adapter_nav2/__init__.py b/fleet_adapter_nav2/fleet_adapter_nav2/__init__.py