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fleet_adapter_clearpath

An open source fleet adapter for integrating OTTO robots with Open-RMF. This adapter communicates with the robots over ROS 2 topics and actions.

Description

This package implements a OTTO robot command handle that is managed by a C++ RMF Adapter. It can be used to control fleets of OTTO robots.

Requirements

• ROS 2 Foxy
• Clearpath API (v1.3.3)

Setup

Follow the instructions here to create an RMF workspace. Install all necessary dependencies but do not run the colcon build.. step yet. Next clone in this repository into the same workspace

cd ~/rmf_ws/src
git clone https://github.com/open-rmf/fleet_adapter_clearpath.git
cd ~/rmf_ws
rosdep install --from-paths src --ignore-src --rosdistro foxy -yr
source /opt/ros/foxy/setup.bash
source /opt/clearpath/ros2-api-1.3.3-0/setup.bash # or wherever the clearpath api is located
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to fleet_adapter_clearpath

To run only the fleet adapter

source ~/rmf_ws/install/setup.bash
ros2 run fleet_adapter_clearpath fleet_adapter --ros-args -p nav_graph_file:=NAV_PATH -p config_file:=CONFIG_PATH

Sample config file

Support

If you need support on RMF (e.g. bug reports, feature requests), you can find our support guidelines here.

For support related to OTTO Motors robots or the Clearpath ROS2 API, contact a person at OTTO Motors.