ROS2与Open-RMF仿真教程#Jazzy版#-安装rmf-web

文章说明

• 本教程主要介绍如何安装rmf-web应用
• 测试环境：Ubuntu 24.04 + ROS2 Jazzy + Gazebo Harmonic 8.9.0
• 如需要在docker下使用，请参阅官方文档

操作步骤

RCM脚本一键安装

• RCM安装教程：ROS命令管理器-RCM使用入门（命令行版）
• 使用RCM脚本源码安装Open-RMF框架，具体脚本内容查看

$ rcm ros2_rmf install_rmf_web_jazzy

源码分步安装

• 安装依赖

$ sudo apt install python3-venv
$ pip3 install pipenv

• 下载代码

$ cd ~/ros2_rmf_ws/src/
$ git clone -b jazzy https://github.com/open-rmf/rmf-web.git
$ sudo curl -fsSL https://get.pnpm.io/install.sh | bash -
$ pnpm env use --global 20

• 安装

$ cd ~/ros2_rmf_ws/rmf-web
$ pnpm install

测试

• 检查是否正常安装成功
• 新开终端，加载office场景示例

$ ros2 launch rmf_demos_gz office.launch.xml server_uri:="ws://localhost:8000/_internal"

• 新开终端，启动后端服务（API Server）

$ cd ~/ros2_rmf_ws/src/rmf-web/packages/api-server
$ pnpm start
> api-server@0.3.0 start /home/ubuntu/ros2_rmf_ws/src/rmf-web/packages/api-server
> rm -rf run && mkdir -p run/cache && RMF_API_SERVER_CONFIG=${RMF_API_SERVER_CONFIG:-sqlite_local_config.py} ../../.venv/bin/pipenv run python -m api_server

msg="loading states from database..." level="INFO" ts="2025-08-14T17:47:16.870+0800" src="app.py:260" funcName="_load_states"
msg="loaded 0 door states" level="INFO" ts="2025-08-14T17:47:16.872+0800" src="app.py:265" funcName="_load_states"
msg="loaded 0 lift states" level="INFO" ts="2025-08-14T17:47:16.873+0800" src="app.py:270" funcName="_load_states"
msg="loaded 0 dispenser states" level="INFO" ts="2025-08-14T17:47:16.874+0800" src="app.py:277" funcName="_load_states"
msg="loaded 0 ingestor states" level="INFO" ts="2025-08-14T17:47:16.875+0800" src="app.py:284" funcName="_load_states"
msg="starting scheduler" level="INFO" ts="2025-08-14T17:47:16.876+0800" src="app.py:118" funcName="lifespan"
msg="loaded 0 tasks" level="INFO" ts="2025-08-14T17:47:16.878+0800" src="app.py:136" funcName="lifespan"
msg="successfully started scheduler" level="INFO" ts="2025-08-14T17:47:16.878+0800" src="app.py:137" funcName="lifespan"
msg="started app" level="INFO" ts="2025-08-14T17:47:16.878+0800" src="app.py:139" funcName="lifespan"
[WARN] [1755164836.960466492] [rmf_api_server]: New publisher discovered on topic 'fire_alarm_trigger', offering incompatible QoS. No messages will be received from it. Last incompatible policy: DURABILITY
msg="saved new file \"/home/ubuntu/ros2_rmf_ws/src/rmf-web/packages/api-server/run/cache/hotel/L1-hotel_L1.6kbwyc76p2pay4xetomuawhwthwrr7uj.png\"" level="INFO" ts="2025-08-14T17:47:17.126+0800" src="cached_files.py:38" funcName="add_file"
msg="saved new file \"/home/ubuntu/ros2_rmf_ws/src/rmf-web/packages/api-server/run/cache/hotel/L2-hotel_L2.y5pdsqe3fr6ciknktenheimtgoyicuxq.png\"" level="INFO" ts="2025-08-14T17:47:17.127+0800" src="cached_files.py:38" funcName="add_file"
msg="saved new file \"/home/ubuntu/ros2_rmf_ws/src/rmf-web/packages/api-server/run/cache/hotel/L3-hotel_L3.6wqxwoog2x2jlko2d4vuuyo6xtu244nt.png\"" level="INFO" ts="2025-08-14T17:47:17.127+0800" src="cached_files.py:38" funcName="add_file"
msg="got response 'patrol_64662697-4934-4eb8-a681-b7aa8ed6d0ce'" level="INFO" ts="2025-08-14T17:47:17.138+0800" src="rmf_service.py:89" funcName="_handle_response"
msg="Received response for unknown request id: patrol_64662697-4934-4eb8-a681-b7aa8ed6d0ce" level="WARNING" ts="2025-08-14T17:47:17.138+0800" src="rmf_service.py:93" funcName="_handle_response"
msg="127.0.0.1:52186 - \"GET /socket.io/?EIO=4&transport=polling&t=PYd-Wlz HTTP/1.1\" 200" level="INFO" ts="2025-08-14T17:47:18.914+0800" src="httptools_impl.py:481" funcName="send"
msg="127.0.0.1:52186 - \"GET /socket.io/?EIO=4&transport=polling&t=PYd-Wm7&sid=bW7kNqK4bJyJTUDlAAAA HTTP/1.1\" 200" level="INFO" ts="2025-08-14T17:47:18.930+0800" src="httptools_impl.py:481" funcName="send"
msg="127.0.0.1:52206 - \"POST /socket.io/?EIO=4&transport=polling&t=PYd-Wm8&sid=bW7kNqK4bJyJTUDlAAAA HTTP/1.1\" 200" level="INFO" ts="2025-08-14T17:47:18.939+0800" src="httptools_impl.py:481" funcName="send"
msg="127.0.0.1:52186 - \"GET /socket.io/?EIO=4&transport=polling&t=PYd-WmM&sid=bW7kNqK4bJyJTUDlAAAA HTTP/1.1\" 200" level="INFO" ts="2025-08-14T17:47:18.941+0800" src="httptools_impl.py:481" funcName="send"
msg="127.0.0.1:52186 - \"OPTIONS /fleets HTTP/1.1\" 200" level="INFO" ts="2025-08-14T17:47:19.878+0800" src="httptools_impl.py:481" funcName="send"
msg="127.0.0.1:52186 - \"GET /fleets HTTP/1.1\" 200" level="INFO" ts="2025-08-14T17:47:19.908+0800" src="httptools_impl.py:481" funcName="send"

• 新开终端，启动前端服务（Web Dashboard）

$ cd ~/ros2_rmf_ws/src/rmf-web/packages/rmf-dashboard-framework
$ pnpm start:example examples/demo

> rmf-dashboard-framework@0.3.0 start:example /home/ubuntu/ros2_rmf_ws/src/rmf-web/packages/rmf-dashboard-framework
> pnpm --filter=rmf-dashboard-framework^... build && vite -c examples/shared/vite.config.ts examples/demo

Scope: 4 of 8 workspace projects
../api-client build$ tsc --build
└─ Done in 407ms
../rmf-models build$ tsc --build && cp package.json dist
└─ Done in 410mszai

  VITE v5.3.5  ready in 407 ms

  ➜  Local:   http://localhost:5173/
  ➜  Network: use --host to expose
  ➜  press h + enter to show help

• 然后浏览器打开网页：http://localhost:5173/

• 正常情况，应该能显示机器人、门和地图等实时状态