ROS2与Open-RMF仿真教程-安装Open-RMF(galactic版)

ROS2与Open-RMF仿真教程-安装Open-RMF(galactic版)

说明：　

• 介绍如何安装Open-RMF
• 环境：ubuntu20.04 +　galacitc
• ubuntu 20.04 galactic apt安装的版本为21.09版本,最新为galactic版本
• 要安装这个版本,需要使用源码安装

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

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://github.com/open-rmf/rmf/blob/galactic/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: galactic-devel
  rmf/rmf_internal_msgs:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/rmf_internal_msgs.git
    version: galactic-devel
  rmf/rmf_api_msgs:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/rmf_api_msgs.git
    version: galactic-devel
  rmf/rmf_ros2:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/rmf_ros2.git
    version: galactic-devel
  rmf/rmf_task:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/rmf_task.git
    version: galactic-devel
  rmf/rmf_traffic:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/rmf_traffic.git
    version: galactic-devel
  rmf/rmf_utils:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/rmf_utils.git
    version: galactic-devel
  rmf/ament_cmake_catch2:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/ament_cmake_catch2.git
    version: galactic-devel
  rmf/rmf_visualization:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/rmf_visualization.git
    version: galactic-devel
  rmf/rmf_visualization_msgs:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/rmf_visualization_msgs.git
    version: galactic-devel
  rmf/rmf_building_map_msgs:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/rmf_building_map_msgs.git
    version: galactic-devel
  rmf/rmf_simulation:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/rmf_simulation.git
    version: galactic-devel
  rmf/rmf_traffic_editor:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/rmf_traffic_editor.git
    version: galactic-devel
  demonstrations/rmf_demos:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/rmf_demos.git
    version: galactic-devel
  thirdparty/menge_vendor:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/menge_vendor.git
    version: master
  thirdparty/nlohmann_json_schema_validator_vendor:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/nlohmann_json_schema_validator_vendor.git
    version: main
  thirdparty/pybind11_json_vendor:
    type: git
    url: https://ghproxy.com/https://github.com/open-rmf/pybind11_json_vendor.git
    version: main
  thirdparty/ros_ign:
    type: git
    url: https://ghproxy.com/https://github.com/ignitionrobotics/ros_ign.git
    version: galactic

• 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