What Is This?

This repository contains a full-control Robot Middleware Framework (RMF) fleet adapter compatible with Kabam robots (Eg. Co-Lab, Halo, etcetera) which bridges RMF interactions with Kabam Robot Application Programming Interface (API) to allow for autonomous navigation given an RMF deployment site.

Dependencies 📚

• Ubuntu 22.04 LTS
• ROS2 - Humble
• Open-RMF on Humble Hawksbill - Sync (2023-12-29)

Build 🔨

cd $HOME

git clone git@bitbucket.org:cognicept/fleet_adapter_kabam.git --depth 1 --single-branch --branch master 

cd $HOME/fleet_adapter_kabam

docker build -t fleet_adapter_kabam:humble .

docker run -it --rm \
  --name fleet_adapter_kabam_c \
  --network=host \
  -v /dev/shm:/dev/shm \
  -v ./configs/config.yaml:/fleet_adapter_kabam_ws/src/fleet_adapter_kabam/config/config.yaml \
  -v ./configs/nav_graph.yaml:/fleet_adapter_kabam_ws/src/fleet_adapter_kabam/config/nav_graph.yaml \
  fleet_adapter_kabam:humble bash -c \
"ros2 run fleet_adapter_kabam fleet_adapter \
--config_file /fleet_adapter_kabam_ws/src/fleet_adapter_kabam/config/config.yaml \
--nav_graph /fleet_adapter_kabam_ws/src/fleet_adapter_kabam/config/nav_graph.yaml \
--server_uri ws://localhost:8000/_internal"

Configure

For configuration for custom Kabam Robotics robot deployment, there are 2 files a user is required to modify:

📃 config.yaml

Update the following variables in this file:

• 🔸 robot_api_prefix: IP address of robot. Please consult vendor for information.
• 🔸 maps: Transforms between RMF and Smart+ Maps.

  maps:
  INSERT_SMART+_MAP_NAME:
    ori_diff: 1.57  # degree
    rmf: [[12.43046686746988, -9.682210090361446], # at_exit
        [22.813091114457833, -9.68421686746988], # next_to_dock
        [29.149710090361452, -9.692390813253013], 
        [35.00181475903615, -9.680301204819278]] # at_glass_door_int
    robot: [[3.612, 27.603],
        [3.155, 16.132],
        [3.551, 8.656],
        [3.156, 3.652]]

• 🔸 robots: RMF waypoint specifications.

  robots:
  # Here the user is expected to append the configuration for each robot in the
  # fleet.
  # Configuration for first robot in this fleet
  INSERT_ROBOT_NAME_HERE:
    robot_config:
      max_delay: 10.0 # allowed seconds of delay of the current itinerary before it gets interrupted and replanned
      map_exit_point:
        lift1:
           INSERT_SMART+_MAP_NAME: "INSERT_LIFT_ACCESS_RMF_WAYPOINT_NAME"
    rmf_config:
      robot_state_update_frequency: 0.5
      start:
        map_name: "INSERT_SMART+_MAP_NAME"
        waypoint: "INSERT_START_RMF_WAYPOINT_NAME"
        orientation: 0
      charger:
        waypoint: "INSERT_DOCK_RMF_WAYPOINT_NAME"

📃 nav_graph.yaml

Please generate and replace this file with the .yaml navigation graph, given a user's custom .building.yaml RMF Map file. Follow the official instructions here.

Verify ✅

Once fleet_adapter_kabam is running, you should see something similar to the following output:

[INFO] [1728452767.484285693] [CoLab_fleet_adapter]: Parameter [discovery_timeout] set to: 60.000000

fleet_adapter_kabam would start looking for RMF Traffic Node.

Contributions & Feedback

We welcome contributions! Please see the contribution guidelines.

For feature requests or bug reports, please file a GitHub Issue.

Maintainer(s)

• Gary Bey