revamp v2

[youliangtan]

What's New in v0.2.0

• Use the new perform_action for custom cleaning task. During cleaning, the robot will act as a "readonly" robot, and update a short segment of the trajectory according to its current heading.
• rmf map to robot map transformation: Previously user is required to provide 2 sets of corresponding points. Now, with RmfMapTransform utils, users have the option to provide rmf_transform: [150.13, -24.846, 3.13, 0.05090] #[tx, ty, r, s] in the yaml config file.
• Location update and status update: The updated fleet adapter provides more accurate location update to rmf, and more resilient towards locations that are not on the nav graph. Also, it will also constantly update the robot status to rmf-web, inform users about the current robot status (e.g. uninitialized, offline, error, charging ....)
• Mock testing of fleet adapter: Use --test_api_config_file arg to test the ecobot fleet adapter in mock mode. This is helpful to test different scenarios on rviz before running on the actual robot.
• Major cleanups on fleet adapter implementation
• Create simple demo example to run ecobot_fleet_adapter in office.world

Test fleet adapter with office world

• requires rmf_demos: Add ecobot lidar map to office floor plan rmf_demos#140

Run this example in office world:

ros2 launch rmf_demos office.launch.xml run_fleet_adapters:=0

Then run the ecobot fleet adapter

ros2 run fleet_adapter_ecobot fleet_adapter_ecobot \
    -c src/fleet_adapter_ecobot/configs/robot_config.yaml \
    -n install/rmf_demos_maps/share/rmf_demos_maps/maps/office/nav_graphs/0.yaml \
    -s "ws://localhost:8000/_internal" \
    -tf src/fleet_adapter_ecobot/configs/test_api_config.yaml

For more info, please refer to the readme.

[Yadunund]

Is there a reason for removing sim_server.py?

[Yadunund]

@youliangtan The changes here are okay and I trust they have been working well on hardware?

Wondering why ecobot_sim_server.py was removed? How will users control robots in simulation without this?

[youliangtan]

The ecobot_sim_server.py was removed since the current way I am testing the ecobot fleet adapter is through solely rviz (without simulation and with wall realtime). The TestAPIClient.py is activated when user add the -tf arg when running the script. This will mock the ecobot moving around the environment. You can try out by follow the instructionss above.

However Iam still pondering whether to re-add and update the ecobot_sim_server.py, since there will be added benefits when testing the fleetadapter in full simulation.

[Yadunund]

My recommendation is to definitely keep and it in fact update rmf_demos/office to add a cleaning robot that can be commanded by this adpater.

So along with the change in this PR open-rmf/rmf_demos#140, update the building.yaml to add a cleaning robot which can either be controlled by rmf_demos_fleet_adapter or with a combination of fleet_adapter_ecobot + ecobot_sim_server.py

[Yadunund]

Or maybe add a new package to this repo that will contain a copy of office map, launch files etc to control a robot in simulation using this adapter

[Yadunund]

Long overdue merge.

Many thanks @youliangtan for this huge enhancement!

[youliangtan]

Thanks for merging in, and also the fixes from @JohnTGZ 🙏