epic:Base for next-gen RMF#26
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Signed-off-by: Arjo Chakravarty <arjo129@gmail.com>
Adds a simple path visualizer for RViz to view plans generated by the planner over the topic `~/path_markers`. ### GenAI Use We follow [OSRA's policy on GenAI tools](https://github.com/openrobotics/osrf-policies-and-procedures/blob/main/OSRF%20Policy%20on%20the%20Use%20of%20Generative%20Tools%20(%E2%80%9CGenerative%20AI%E2%80%9D)%20in%20Contributions.md) - [x] I used a GenAI tool in this PR. - [ ] I did not use GenAI Generated-by: Gemini 3.1 Pro --------- Signed-off-by: Xiyu Oh <xiyu@openrobotics.org>
Adds a CI for the next-gen prototype. ### Implementation description We create a base container consisting of `ros2_rust`, `nav2` and generated rust messages. We then Perform the building against this base container. ### GenAI Use We follow [OSRA's policy on GenAI tools](https://github.com/openrobotics/osrf-policies-and-procedures/blob/main/OSRF%20Policy%20on%20the%20Use%20of%20Generative%20Tools%20(%E2%80%9CGenerative%20AI%E2%80%9D)%20in%20Contributions.md) - [x] I used a GenAI tool in this PR. - [ ] I did not use GenAI Generated-by: Gemini Pro 3.1 Signed-off-by: Arjo Chakravarty <arjo129@gmail.com> * Update CI workflow branch to epic/next-gen-base Signed-off-by: Arjo Chakravarty <arjo129@gmail.com> * Add branch to CI workflow for additional feature Signed-off-by: Arjo Chakravarty <arjo129@gmail.com> * Remove nav2 stuff Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Rosdep new code as well Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Rosdep new code as well Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Update CI Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Update readme Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * try not using repos file Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Fix typo Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Update README.md Co-authored-by: Xiyu <ohxiyu@gmail.com> Signed-off-by: Arjo Chakravarty <arjo129@gmail.com> * remove broken source path Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * remove broken source path Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * add rosdep init Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * to rosdepinit or not that is the question Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * rosdep binary Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * fix instructions Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Remove repos file Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Remove repos reference Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Update dockerfile to use colcon cargo from apt Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Update readme instructions Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Fix apt command Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Update README for clarity on workspace dependencies Signed-off-by: Arjo Chakravarty <arjo129@gmail.com> * Use rosenv Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Re-add colcon-ros-cargo Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * update readme since vcs is no longer needed Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Dockerfile base Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Force upgrade Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Add break-system package line Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Limit to only epic branch Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> --------- Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> Signed-off-by: Arjo Chakravarty <arjo129@gmail.com> Co-authored-by: Xiyu <ohxiyu@gmail.com>
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
## New feature implementation ### Implemented feature I added a reservation-aware destination server package, in addition to the stateless simple destination server. The user can switch between both implementations in the demo at launch time. ### Implementation description This PR is a combination of: - arjo129#4: E2E visualization for reservation queuing - arjo129#7: negative-coordinate reservation fixes - arjo129#8: RMF Site Editor config parsing and the splitting of the destination server package into stateless and reservation-aware packages. ### GenAI Use We follow [OSRA's policy on GenAI tools](https://github.com/openrobotics/osrf-policies-and-procedures/blob/main/OSRF%20Policy%20on%20the%20Use%20of%20Generative%20Tools%20(%E2%80%9CGenerative%20AI%E2%80%9D)%20in%20Contributions.md) - [x] I used a GenAI tool in this PR. - [ ] I did not use GenAI --------- Generated-by: GPT-5.5 Signed-off-by: SamuelFoo <fooenzesamuel@gmail.com>
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
* Fix QoS durability mismatches in integration tests Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * CI: Run tests sequentially to avoid DDS interference Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> --------- Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
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* Introduce nav2 traffic for next gen Signed-off-by: Xiyu Oh <xiyu@openrobotics.org> * Bring in spatio temporal stuff Signed-off-by: Xiyu Oh <xiyu@openrobotics.org> * Remove sp from repos file Signed-off-by: Xiyu Oh <xiyu@openrobotics.org> * Remove .repos file Signed-off-by: Xiyu Oh <xiyu@openrobotics.org> * Persistent cancelllation Signed-off-by: Xiyu Oh <xiyu@openrobotics.org> * More robust inner nav request handling Signed-off-by: Xiyu Oh <xiyu@openrobotics.org> * Add clearer description Signed-off-by: Xiyu Oh <xiyu@openrobotics.org> * Review comments Signed-off-by: Xiyu Oh <xiyu@openrobotics.org> * Add visualizer launch Signed-off-by: Xiyu Oh <xiyu@openrobotics.org> * Move bevy ros2 stuff to its own crate + cleanup Signed-off-by: Xiyu Oh <xiyu@openrobotics.org> * Compare destination session Signed-off-by: Xiyu Oh <xiyu@openrobotics.org> * Adjust log level Signed-off-by: Xiyu Oh <xiyu@openrobotics.org> * Add more deps instructions to readme Signed-off-by: Xiyu Oh <xiyu@openrobotics.org> * Some readme stuff, some ci stuff, some logging stuff Signed-off-by: Xiyu Oh <xiyu@openrobotics.org> * See if CI will fetch the right things Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Add deps Signed-off-by: Xiyu Oh <xiyu@openrobotics.org> * Forgot the 2 Signed-off-by: Xiyu Oh <xiyu@openrobotics.org> --------- Signed-off-by: Xiyu Oh <xiyu@openrobotics.org> Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> Co-authored-by: Arjo Chakravarty <arjoc@intrinsic.ai>
Some cleanup follow-up from Nav2 traffic PR outlined in #21: - Replace `DefaultPlugins` with `MinimalPlugins` + `LogPlugin` - Use `rmf_participant_discovery` for the visualizer - Add `nav2_traffic` node to `demo_viz` launch file ### GenAI Use We follow [OSRA's policy on GenAI tools](https://github.com/openrobotics/osrf-policies-and-procedures/blob/main/OSRF%20Policy%20on%20the%20Use%20of%20Generative%20Tools%20(%E2%80%9CGenerative%20AI%E2%80%9D)%20in%20Contributions.md) - [x] I used a GenAI tool in this PR. - [ ] I did not use GenAI Generated-by: Gemini 3.1 Pro Signed-off-by: Xiyu Oh <xiyu@openrobotics.org>
Related to #12 ### Implemented feature Adds a very rudimentary way of loading environment maps. This is by no means a final approach to loading maps, but it provides a high level way of representing them for the time being. ### Implementation description We subscribe to the `/map` topic to listen for OccupancyGrids. It gets converted internally to a `Map` struct ### Test it Use the launch file provided by `demo_map.launch.py` . It spins up a ROS 2 `map_server` loaded with a custom 20x20 grid map (`demo_grid.png`) and activates it. The dashboard subscribes to `/map` and visualizes it as a background layer. Run the launch file: ```bash ros2 launch rmf_path_server_demo demo_map.launch.py ``` - Open `http://localhost:8080` in your web browser. - The canvas will automatically fit to the 20x20 grid map. - You can add robots and set goals as in the default mode, and see the map obstacles (a box in the center) drawn on the canvas. ### GenAI Use We follow [OSRA's policy on GenAI tools](https://github.com/openrobotics/osrf-policies-and-procedures/blob/main/OSRF%20Policy%20on%20the%20Use%20of%20Generative%20Tools%20(%E2%80%9CGenerative%20AI%E2%80%9D)%20in%20Contributions.md) - [x] I used a GenAI tool in this PR. - [ ] I did not use GenAI Generated-by: Gemini Pro 3.1 --------- Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> Signed-off-by: Arjo Chakravarty <arjo129@gmail.com> Co-authored-by: Xiyu <ohxiyu@gmail.com>
* Change build branch from 'epic/next-gen-base' to 'main' Signed-off-by: Arjo Chakravarty <arjo129@gmail.com> * Change CI workflow branch from epic to main Signed-off-by: Arjo Chakravarty <arjo129@gmail.com> --------- Signed-off-by: Arjo Chakravarty <arjo129@gmail.com>
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Note: DO NOT SQUASH MERGE THIS PR, we want to keep history
This PR consists of a set of commits by myself, @xiyuoh and @SamuelFoo that should form the base of the next-gen-rmf.
It implements most of Pass 1 of #8. It consists of a minimal CI, plan executor and plan server along with a simple destination server. There are also some temporary demos that have been vibed-out so that people can start hacking.
Testing
I would start with the repository's main readme:
Then I would work through the demos here:
Finally I would try the Nav 2 demos out: