From cc7db4dc77d77ab8c340f0a9f7721700a56ccd64 Mon Sep 17 00:00:00 2001 From: Xiyu Date: Tue, 19 Jul 2022 18:31:14 +0800 Subject: [PATCH 01/10] Add demo fleet adapter build instructions (#122) Signed-off-by: Xi Yu Oh Signed-off-by: Yadunund --- Dockerfile | 2 +- README.md | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/Dockerfile b/Dockerfile index ba237656..62865976 100644 --- a/Dockerfile +++ b/Dockerfile @@ -14,7 +14,7 @@ RUN apt-get update \ qt5-default \ wget \ python3-pip \ - && pip3 install flask-socketio \ + && pip3 install flask-socketio fastapi uvicorn \ && rm -rf /var/lib/apt/lists/* # setup keys diff --git a/README.md b/README.md index b28a0bdf..ed85fda5 100644 --- a/README.md +++ b/README.md @@ -54,7 +54,7 @@ sudo apt update && sudo apt install \ git cmake python3-vcstool curl \ qt5-default \ -y -python3 -m pip install flask-socketio +python3 -m pip install flask-socketio fastapi uvicorn sudo apt-get install python3-colcon* ``` From 52aaeee816e13b22784d68a1e1ef6cf4c06e3411 Mon Sep 17 00:00:00 2001 From: Dev Manek <58616961+thedevmanek@users.noreply.github.com> Date: Tue, 2 Aug 2022 14:29:35 +0530 Subject: [PATCH 02/10] Decluttered README in the main branch (#157) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Dev Manek Co-authored-by: Grey Co-authored-by: Aaron Chong Co-authored-by: Luca Della Vedova Co-authored-by: Yadu Co-authored-by: youliang Co-authored-by: Xiyu Co-authored-by: Marco A. Gutiérrez Signed-off-by: Yadunund --- README.md | 58 +++++++++++++++++++------------------------------------ rmf.repos | 1 + 2 files changed, 21 insertions(+), 38 deletions(-) diff --git a/README.md b/README.md index ed85fda5..0a2f282e 100644 --- a/README.md +++ b/README.md @@ -8,43 +8,19 @@ The OpenRMF platform for multi-fleet robot management. --- -## Install ROS 2 Galactic -First, please follow the installation instructions for ROS 2 Galactic. -If you are on an Ubuntu 20.04 LTS machine (as recommended), [here is the binary install page for ROS 2 Galactic on Ubuntu 20.04](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html). +For specific rmf versions follow the instructions given below: -## Setup Gazebo repositories +## Installation Instructions -Setup your computer to accept Gazebo packages from packages.osrfoundation.org. +These are the current Open-RMF binary releases available: -```bash -sudo apt update -sudo apt install -y wget -sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' -wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - -``` - -## Binary install - -OpenRMF binary packages are available for Ubuntu Focal 20.04 for the `Foxy`, `Galactic` and `Rolling` releases of ROS 2. Most OpenRMF packages have the prefix `rmf` on their name, therefore, you can find them by them by searching for the pattern `ros--rmf`, e.g., for galatic it would be: - -```bash -apt-cache search ros-galactic-rmf -``` - -### RMF Demos - -A good way to install the `rmf` set of packages in one go is to install the one of the main [RMF Demos](https://github.com/open-rmf/rmf_demos) packages. This will pull all the rest of the OpenRMF packages as a dependency. The core of RMF demos is contained on the `rmf_demos` package. However, if you want to install it with simulation support, you should install the `rmf_demos_gz` or `rmf_demos_ign` package which come with gazebo or ignition support respectively. As an example, to install the ROS 2 Galactic release with gazebo support package, you would run: - -```bash -sudo apt install ros-galactic-rmf-demos-gz -``` +| RMF Version | Installation Instructions | Supported distros | Supported ROS2 versions | +| ----------- | -------------------------------------------------------------------------------- | --------------------------------------------------- | ----------------------- | +| 21.09 |  [Installation instructions](https://github.com/open-rmf/rmf/tree/release/21.09) | Ubuntu 20.04, Ubuntu 21.09, RHEL 8 (deployment only) | Foxy, Galactic | ## Building from sources -If you want to get the latest developments you might want to install from sources and compile OpenRMF yourself. - - ### Additional Dependencies Install all non-ROS dependencies of OpenRMF packages, @@ -69,6 +45,7 @@ rosdep update ``` ### Download the source code + Setup a new ROS 2 workspace and pull in the demo repositories using `vcs`, ```bash @@ -79,7 +56,13 @@ vcs import src < rmf.repos ``` Ensure all ROS 2 prerequisites are fulfilled, -``` + +you can subsutitute your distro name for `` + +Example: +for `galactic` + +```bash cd ~/rmf_ws rosdep install --from-paths src --ignore-src --rosdistro galactic -y ``` @@ -92,17 +75,12 @@ Compiling on `Ubuntu 20.04`: ```bash cd ~/rmf_ws -source /opt/ros/galactic/setup.bash +source /opt/ros//setup.bash colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release ``` > NOTE: The first time the build occurs, many simulation models will be downloaded from Ignition Fuel to populate the scene when the simulation is run. -As a result, the first build can take a very long time depending on the server load and your Internet connection (for example, 60 minutes). - -## Run RMF Demos - -Demonstrations of OpenRMF are shown in [rmf_demos](https://github.com/open-rmf/rmf_demos/). - +> As a result, the first build can take a very long time depending on the server load and your Internet connection (for example, 60 minutes). ### Docker Containers Alternatively, you can run RMF Demos by using [docker](https://docs.docker.com/engine/install/ubuntu/). @@ -123,6 +101,10 @@ This will run `rmf_demos` in headless mode. Open [this link](https://open-rmf.gi (Experimental) User can also run `rmf_demos` in “non-headless” graphical form, via [rocker](https://github.com/osrf/rocker). +## Run RMF Demos + +Demonstrations of OpenRMF are shown in [rmf_demos](https://github.com/open-rmf/rmf_demos/). + ## Roadmap A near-term roadmap of the entire OpenRMF project (including and beyond `rmf_traffic`) can be found in the user manual [here](https://osrf.github.io/ros2multirobotbook/roadmap.html). diff --git a/rmf.repos b/rmf.repos index 15e14873..bc308d28 100644 --- a/rmf.repos +++ b/rmf.repos @@ -71,3 +71,4 @@ repositories: type: git url: https://github.com/ignitionrobotics/ros_ign.git version: galactic + From 00bf1714aeaa9229cb5aea155c6aa19be14285d9 Mon Sep 17 00:00:00 2001 From: Yadunund Date: Thu, 25 Aug 2022 17:49:02 +0530 Subject: [PATCH 03/10] Checkout galactic-devel branches Signed-off-by: Yadunund --- rmf.repos | 29 ++++++++++++++--------------- 1 file changed, 14 insertions(+), 15 deletions(-) diff --git a/rmf.repos b/rmf.repos index bc308d28..efed29ce 100644 --- a/rmf.repos +++ b/rmf.repos @@ -2,59 +2,59 @@ repositories: rmf/rmf_battery: type: git url: https://github.com/open-rmf/rmf_battery.git - version: main + version: galactic-devel rmf/rmf_internal_msgs: type: git url: https://github.com/open-rmf/rmf_internal_msgs.git - version: main + version: galactic-devel rmf/rmf_api_msgs: type: git url: https://github.com/open-rmf/rmf_api_msgs.git - version: main + version: galactic-devel rmf/rmf_ros2: type: git url: https://github.com/open-rmf/rmf_ros2.git - version: main + version: galactic-devel rmf/rmf_task: type: git url: https://github.com/open-rmf/rmf_task.git - version: main + version: galactic-devel rmf/rmf_traffic: type: git url: https://github.com/open-rmf/rmf_traffic.git - version: main + version: galactic-devel rmf/rmf_utils: type: git url: https://github.com/open-rmf/rmf_utils.git - version: main + version: galactic-devel rmf/ament_cmake_catch2: type: git url: https://github.com/open-rmf/ament_cmake_catch2.git - version: main + version: galactic-devel rmf/rmf_visualization: type: git url: https://github.com/open-rmf/rmf_visualization.git - version: main + version: galactic-devel rmf/rmf_visualization_msgs: type: git url: https://github.com/open-rmf/rmf_visualization_msgs.git - version: main + version: galactic-devel rmf/rmf_building_map_msgs: type: git url: https://github.com/open-rmf/rmf_building_map_msgs.git - version: main + version: galactic-devel rmf/rmf_simulation: type: git url: https://github.com/open-rmf/rmf_simulation.git - version: main + version: galactic-devel rmf/rmf_traffic_editor: type: git url: https://github.com/open-rmf/rmf_traffic_editor.git - version: main + version: galactic-devel demonstrations/rmf_demos: type: git url: https://github.com/open-rmf/rmf_demos.git - version: main + version: galactic-devel thirdparty/menge_vendor: type: git url: https://github.com/open-rmf/menge_vendor.git @@ -71,4 +71,3 @@ repositories: type: git url: https://github.com/ignitionrobotics/ros_ign.git version: galactic - From c442c2c10f5f35865e8feb0ace64b1e7a2912e79 Mon Sep 17 00:00:00 2001 From: Yadunund Date: Thu, 25 Aug 2022 17:55:29 +0530 Subject: [PATCH 04/10] Update ci Signed-off-by: Yadunund --- .github/workflows/nightly.yaml | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/.github/workflows/nightly.yaml b/.github/workflows/nightly.yaml index 295dffad..3654d210 100644 --- a/.github/workflows/nightly.yaml +++ b/.github/workflows/nightly.yaml @@ -1,5 +1,5 @@ name: nightly -on: +on: push: pull_request: schedule: @@ -9,16 +9,22 @@ jobs: build_and_test: name: Nightly build and test runs-on: ubuntu-20.04 + container: + image: rostooling/setup-ros-docker:ubuntu-focal-latest steps: - name: deps - uses: ros-tooling/setup-ros@v0.2 + uses: ros-tooling/setup-ros@v0.3 with: required-ros-distributions: galactic + - name: install_clang + run: sudo apt update && sudo apt install -y clang clang-tools lld - uses: actions/checkout@v2 - name: build_and_test uses: ros-tooling/action-ros-ci@v0.2 env: QT_QPA_PLATFORM: offscreen + CC: clang + CXX: clang++ with: target-ros2-distro: galactic # build all packages listed in the meta package @@ -59,7 +65,7 @@ jobs: colcon-defaults: | { "build": { - "mixin": ["coverage-gcc"] + "mixin": ["coverage-gcc", "lld"] } } colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml From df4d2b1a4a05c43eef01d3ea5e0a9eb1ac5a6403 Mon Sep 17 00:00:00 2001 From: Yadunund Date: Fri, 26 Aug 2022 01:55:34 +0530 Subject: [PATCH 05/10] Update nightly Signed-off-by: Yadunund --- .github/workflows/nightly.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/nightly.yaml b/.github/workflows/nightly.yaml index 3654d210..3c680f82 100644 --- a/.github/workflows/nightly.yaml +++ b/.github/workflows/nightly.yaml @@ -34,7 +34,7 @@ jobs: rmf_task rmf_battery rmf_fleet_adapter - rmf_fleet_adapter_python + # rmf_fleet_adapter_python Tests need to be updated rmf_task_ros2 rmf_traffic_ros2 rmf_visualization From 108e04e80570b5cba7bc8d74cb6839484896b903 Mon Sep 17 00:00:00 2001 From: Yadunund Date: Fri, 26 Aug 2022 02:08:37 +0530 Subject: [PATCH 06/10] Update nightly Signed-off-by: Yadunund --- .github/workflows/nightly.yaml | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/.github/workflows/nightly.yaml b/.github/workflows/nightly.yaml index 3c680f82..99423245 100644 --- a/.github/workflows/nightly.yaml +++ b/.github/workflows/nightly.yaml @@ -33,8 +33,7 @@ jobs: rmf_traffic rmf_task rmf_battery - rmf_fleet_adapter - # rmf_fleet_adapter_python Tests need to be updated + rmf_fleet_adapter rmf_task_ros2 rmf_traffic_ros2 rmf_visualization From bdc06b015ffc0e32144f211b7e5dbd5cb146d2f8 Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Thu, 8 Sep 2022 10:10:27 +0800 Subject: [PATCH 07/10] Update setup-ros to v0.4 Signed-off-by: Luca Della Vedova --- .github/workflows/nightly.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/nightly.yaml b/.github/workflows/nightly.yaml index 99423245..83894723 100644 --- a/.github/workflows/nightly.yaml +++ b/.github/workflows/nightly.yaml @@ -13,7 +13,7 @@ jobs: image: rostooling/setup-ros-docker:ubuntu-focal-latest steps: - name: deps - uses: ros-tooling/setup-ros@v0.3 + uses: ros-tooling/setup-ros@v0.4 with: required-ros-distributions: galactic - name: install_clang From 3f1021b7ea49989852b5369a281988c454401666 Mon Sep 17 00:00:00 2001 From: Esteban Martinena Date: Thu, 8 Sep 2022 17:53:11 +0200 Subject: [PATCH 08/10] Removing packages not needed available in galactic Signed-off-by: Esteban Martinena --- .github/workflows/nightly.yaml | 3 --- 1 file changed, 3 deletions(-) diff --git a/.github/workflows/nightly.yaml b/.github/workflows/nightly.yaml index 83894723..a5d81906 100644 --- a/.github/workflows/nightly.yaml +++ b/.github/workflows/nightly.yaml @@ -41,9 +41,6 @@ jobs: rmf_visualization_fleet_states rmf_visualization_rviz2_plugins rmf_visualization_schedule - rmf_building_sim_common - rmf_building_sim_gazebo_plugins - rmf_building_sim_ignition_plugins rmf_robot_sim_common rmf_robot_sim_gazebo_plugins rmf_robot_sim_ignition_plugins From eb2c20c22be12fe0ce18e3844d96afdd2762c9d8 Mon Sep 17 00:00:00 2001 From: Esteban Martinena Date: Thu, 8 Sep 2022 18:26:40 +0200 Subject: [PATCH 09/10] Fixing cryptography==2.8 Signed-off-by: Esteban Martinena --- .github/workflows/nightly.yaml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/.github/workflows/nightly.yaml b/.github/workflows/nightly.yaml index a5d81906..86dc0368 100644 --- a/.github/workflows/nightly.yaml +++ b/.github/workflows/nightly.yaml @@ -8,7 +8,7 @@ on: jobs: build_and_test: name: Nightly build and test - runs-on: ubuntu-20.04 + runs-on: ubuntu-22.04 container: image: rostooling/setup-ros-docker:ubuntu-focal-latest steps: @@ -18,6 +18,8 @@ jobs: required-ros-distributions: galactic - name: install_clang run: sudo apt update && sudo apt install -y clang clang-tools lld + - name: fix cryptography==2.8 # https://github.com/open-rmf/rmf/pull/202#pullrequestreview-1100045417 + run: pip3 install cryptography==2.8 - uses: actions/checkout@v2 - name: build_and_test uses: ros-tooling/action-ros-ci@v0.2 From e631f7175ac3d9e28afb30771bcd23e0c701baac Mon Sep 17 00:00:00 2001 From: Esteban Martinena Date: Thu, 8 Sep 2022 17:53:11 +0200 Subject: [PATCH 10/10] Revert "Removing packages not needed available in galactic" This reverts commit 3f1021b7ea49989852b5369a281988c454401666. Signed-off-by: Esteban Martinena --- .github/workflows/nightly.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.github/workflows/nightly.yaml b/.github/workflows/nightly.yaml index 86dc0368..7043e09d 100644 --- a/.github/workflows/nightly.yaml +++ b/.github/workflows/nightly.yaml @@ -43,6 +43,9 @@ jobs: rmf_visualization_fleet_states rmf_visualization_rviz2_plugins rmf_visualization_schedule + rmf_building_sim_common + rmf_building_sim_gazebo_plugins + rmf_building_sim_ignition_plugins rmf_robot_sim_common rmf_robot_sim_gazebo_plugins rmf_robot_sim_ignition_plugins