ROS2与Open-RMF仿真教程#Jazzy版#-附加功能

文章说明

• 本教程主要介绍Open-RMF的部分附加功能
• 测试环境：Ubuntu 24.04 + ROS2 Jazzy + Gazebo Harmonic 8.9.0

lift watchdog

• 机器人可以lift_watchdog_server向外部查询在该阶段进入电梯轿厢的许可LiftSession

# run hotel world with lift_watch_dog enabled
$ ros2 launch rmf_demos_gz hotel.launch.xml enable_experimental_lift_watchdog:=1

## On a separate terminal, set lift as crowded
$ ros2 launch rmf_demos experimental_crowded_lift.launch.xml

# Dispatch robot from level1 to level3, robot will wait in front of the lift cabin
$ ros2 run rmf_demos_tasks dispatch_patrol -p L3_room1  L3_room1 -n 1 --use_sim_time

# Lift is cleared. Give robot the permission to enter the lift
$ ros2 launch rmf_demos experimental_clear_lift.launch.xml

Custom Docking Sequence

• dock()当机器人到达"停靠"目标点时，Fleet Adapter（车队适配器）将通知机器人（通过api/ModeRequest）执行其自定义停靠序列
• 实现类似于清理任务，请参阅此处的文档

Emergency Alarm

• 当紧急警报被触发时，所有机器人将被引导到最近的停放位置

# toggle alarm ON
$ ros2 topic pub -1 /fire_alarm_trigger std_msgs/Bool '{data: true}'

# toggle alarm OFF
$ ros2 topic pub -1 /fire_alarm_trigger std_msgs/Bool '{data: false}'