ROS2与Open-RMF仿真教程#Jazzy版#-Hotel World场景示例

文章说明

• 本教程主要介绍Open-RMF运行Hotel World场景示例
• 测试环境：Ubuntu 24.04 + ROS2 Jazzy + Gazebo Harmonic 8.9.0

操作步骤

• Hotel World场景这由大堂和两层客房组成，配备两部电梯、多扇门，以及三个共四台机器人的车队
• 展示了多支能力各异的机器人队列在多层建筑中的协同工作与集成
• 新开终端，打开Hotel World仿真场景

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

• 新开终端，启动rmf-web的后端程序

$ cd ~/ros2_rmf_ws/src/rmf-web/packages/api-server
$ pnpm start

• 新开终端，启动rmf-web的前端程序

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

• 现在打开浏览器，地址栏上输入http://localhost:5173/

测试任务

• 下面执行两个测试任务作为示例
• 执行一个巡逻任务，巡逻restaurant和L3_master_suite两个地点一次

$ ros2 run rmf_demos_tasks dispatch_patrol -p restaurant  L3_master_suite -n 1 --use_sim_time

[INFO] [1755588906.408952805] [task_requester]: Using Sim Time
[INFO] [1755588906.415330192] [task_requester]: Using 'dispatch_task_request'
Json msg payload: 
{
  "type": "dispatch_task_request",
  "request": {
    "unix_millis_request_time": 0,
    "unix_millis_earliest_start_time": 0,
    "requester": "rmf_demos_tasks",
    "category": "patrol",
    "description": {
      "places": [
        "restaurant",
        "L3_master_suite"
      ],
      "rounds": 1
    }
  }
}
Got response:
{'state': {'booking': {'id': 'patrol.dispatch-dabd21456e', 'requester': 'rmf_demos_tasks', 'unix_millis_earliest_start_time': 0, 'unix_millis_request_time': 0}, 'category': 'patrol', 'detail': {'places': ['restaurant', 'L3_master_suite'], 'rounds': 1}, 'dispatch': {'errors': [], 'status': 'queued'}, 'status': 'queued', 'unix_millis_start_time': 0}, 'success': True}

• 执行一个清扫任务，清扫clean_lobby地点

$ ros2 run rmf_demos_tasks dispatch_clean -cs clean_lobby --use_sim_time
[INFO] [1755589008.093761108] [task_requester]: Using Sim Time
[INFO] [1755589008.098664054] [task_requester]: Using 'dispatch_task_request'
Json msg payload: 
{
  "type": "dispatch_task_request",
  "request": {
    "unix_millis_request_time": 0,
    "unix_millis_earliest_start_time": 0,
    "requester": "rmf_demos_tasks",
    "category": "compose",
    "description": {
      "category": "clean",
      "phases": [
        {
          "activity": {
            "category": "sequence",
            "description": {
              "activities": [
                {
                  "category": "go_to_place",
                  "description": "clean_lobby"
                },
                {
                  "category": "perform_action",
                  "description": {
                    "unix_millis_action_duration_estimate": 60000,
                    "category": "clean",
                    "expected_finish_location": "clean_lobby",
                    "description": {
                      "zone": "clean_lobby"
                    },
                    "use_tool_sink": true
                  }
                }
              ]
            }
          }
        }
      ]
    }
  }
}

演示视频