Robot Fleet Management in ROS2 Course - Python
Learn how to set up a robot fleet and manage it with the RMF infrastructure.
Managing fleets of robots is tough work. That's why having a high-level API for managing fleets of different robots and systems is key.
RMF allows you to do that.
It gives you the tools to: * Manage different fleets of robots * Assign tasks to the robot best suited for the job based on criteria like the type of robot and the time spent doing that task or battery level. * Integrate already existing robot systems through API calls and ros2 topics. * Integrate non-robot systems like doors, lifts, and humans.
What you will learn
- RMF basic structure
- How to create an RMF simulation compliant
- How to setup Freefleet for autonomous mobile robots
- How to set up basic Tasks like deliver, clean, patrol, and charge.
- How to create your own custom fleet adapter to integrate API and ROS2 systems of your robot into rmf.
- How to dock in RMF
- How to clean with RMF
- How to create a GUI for Humans to interact with RMF.
Introduction to fleet management
Understand what fleet management entails and why it is required
Creation of environment with RMF traffic-editor and manually
Learn how to create the maps used by the RMF planner and use those same maps to autogenerate Gazebo simulations. You will also learn how to integrate already existing simulations into RMF
Simple RMF setup without navigation
Learn the basics of how RMF works using robots that move without navigation.
Custom Fleet Adapter with Template
Learn how to create a custom adapter using the template given by the RMF creators
Default Tasks: Loop, Deliver and charge
Learn how to ask your robots to patrole between two points and deliver an object to a certain location. Also learn the basic mechanism of returning to the charging point using RMF automatic structure.
Learn how to create a custom task
Human interface for RMF
Learn how to create a GUI so that a human can interact with RMF systems to tell when a robot has been loaded with an object and when a robot has delivered that same object.
Interaction With Other Systems
Learn how to use a robot arm as dispenser and a human as an ingestor
Learn how to integrate doors
Learn how to integrate elevators and multilevel environments
Learn how the Open-RMF API Server works
RMF Map Tranforms
Learn how to use refference points for tranforming RMF refference system to Simulation reference system
Miguel Angel Rodriguez
Crashing engineering problems. Building solutions.
Working with Real robots is my thing