ROS2与Open-RMF仿真教程-安装Open-RMF(21.09版)

ROS2与Open-RMF仿真教程-安装Open-RMF(21.09版)

说明：　

• 介绍如何安装Open-RMF
• 环境：ubuntu20.04 +　galacitc
• RMF 21.09版本

Open-RMF：

• Open-RMF是一个异构多智能体协同调度系统，用于协调不同机器人车队进行不同任务管理的可视化管理系统
• 架构图

RCM快速安装方式：

• RCM安装教程
• RCM脚本APT安装， 具体脚本内容查看

cs -s install_rmf_galactic_apt

• 搜索脚本，选择ros2_rmf分类下脚本ID安装
• RCM脚本源码安装， 具体脚本内容查看

cs -s install_rmf_galactic_source

• 搜索脚本，选择ros2_rmf分类下脚本ID安装

APT步骤：　

　- 添加gazebo源

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 -

• APT安装rmf

sudo apt install ros-galactic-rmf-demos-gz #gazebo 
sudo apt install ros-galactic-rmf_demos_ign #ignition 

源码步骤：　

　- 添加gazebo源

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 -

• 添加依赖

sudo apt update && sudo apt install \
  git cmake python3-vcstool curl \
  qt5-default \
  -y
python3 -m pip install flask-socketio -y
sudo apt-get install python3-colcon* -y

• 安装rosdep

#如果rosdep已安装,只需要update一下,没安装则先安装
#sudo apt install python3-rosdep
#sudo rosdep init
rosdep update

• 编译rmf_ws

mkdir -p ~/ros2_rmf_ws/src
cd ~/ros2_rmf_ws
wget https://ghproxy.com/https://raw.githubusercontent.com/open-rmf/rmf/release/21.09/rmf.repos

• 编辑rmf.repos
• 因为默认地址都是基于github,国内需要加一个代理, 自行增加代理
• 文件里面的https://github.com前增加

vim ~/ros2_rmf_ws/rmf.repos

• 效果如下:

repositories:
  rmf/rmf_battery:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/rmf_battery.git
    version: 0.1.1
  rmf/rmf_internal_msgs:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/rmf_internal_msgs.git
    version: 1.4.0
  rmf/rmf_ros2:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/rmf_ros2.git
    version: 1.4.0
  rmf/rmf_task:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/rmf_task.git
    version: 1.0.0
  rmf/rmf_traffic:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/rmf_traffic.git
    version: 1.4.0
  rmf/rmf_utils:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/rmf_utils.git
    version: 1.3.0
  rmf/rmf_cmake_uncrustify:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/rmf_cmake_uncrustify.git
    version: 1.2.0
  rmf/ament_cmake_catch2:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/ament_cmake_catch2.git
    version: 1.2.0
  rmf/rmf_visualization:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/rmf_visualization.git
    version: 1.2.1
  rmf/rmf_visualization_msgs:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/rmf_visualization_msgs.git
    version: 1.2.0
  rmf/rmf_building_map_msgs:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/rmf_building_map_msgs.git
    version: 1.2.0
  rmf/rmf_simulation:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/rmf_simulation.git
    version: 1.3.0
  rmf/rmf_traffic_editor:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/rmf_traffic_editor.git
    version: 1.4.0
  demonstrations/rmf_demos:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/rmf_demos.git
    version: 1.3.1
  thirdparty/menge_vendor:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/menge_vendor.git
    version: 1.0.0

• 下载源码

vcs import src < rmf.repos

　 - 下载依赖

cd ~/ros2_rmf_ws
rosdep install --from-paths src --ignore-src --rosdistro galactic -y

　 - 编译

cd ~/ros2_rmf_ws
source /opt/ros/galactic/setup.bash
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

参考：

• https://github.com/open-rmf/rmf/tree/release/21.09
• https://osrf.github.io/ros2multirobotbook/intro.html