Posted by @gregoryyts:
Hi. I’m trying to integrate Open RMF with some AMRs that are operating in a factory with ROS1(Melodic). My objective is to communicate the fleet manager with robots remotely. To do that I’m using Ubuntu 20.04, ROS1 Noetic, ROS2 Galactic and ros1_bridge (to communicate ROS 1 and ROS 2), as it’s shown in image bellow
Basically, what I intend to do is run Open RMF in ROS Galactic, then stablish a communication between ROS Galactic and ROS Noetic via ros1_bridge, and then communicate my ROS Noetic with ROS Melodic of the factory (everything is in the same network).
In order to do that, I developed an API, just as recommended here to run in my local ROS2. Is it right? I have seen some people talking about the usage of free_fleet in order to put the fleet manager to work with real robots, but I don’t get what is the purpose of free_fleet in this scenario, since I already have the Open RMF.
Anyway, I’m having problems with installation of open RMF too. I am following the steps indicated in RMF Root Repository to build from source, but when I run rosdep install --from-paths src --ignore-src --rosdistro galactic -y, I have the following output:
ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies:
rmf_demos_bridges: Cannot locate rosdep definition for [python3-socketio]
Does anyone knows what could be the cause of this error and how to fix it?
Besides, when I run
cd ~/rmf_ws
source /opt/ros/galactic/setup.bash
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
I have the following output:
By not providing "Findnlohmann_json.cmake" in CMAKE_MODULE_PATH this
project has asked CMake to find a package configuration file provided by
"nlohmann_json", but CMake did not find one.
Could not find a package configuration file provided by "nlohmann_json"
with any of the following names:
nlohmann_jsonConfig.cmake
nlohmann_json-config.cmake
Add the installation prefix of "nlohmann_json" to CMAKE_PREFIX_PATH or set
"nlohmann_json_DIR" to a directory containing one of the above files. If
"nlohmann_json" provides a separate development package or SDK, be sure it
has been installed.
---
Failed <<< rmf_api_msgs [0.70s, exited with code 1]
Aborted <<< rmf_dispenser_msgs [11.1s]
Aborted <<< rmf_door_msgs [11.2s]
Aborted <<< rmf_building_map_msgs [11.6s]
Aborted <<< nlohmann_json_schema_validator_vendor [2.99s]
Aborted <<< rmf_fleet_msgs [12.9s]
Aborted <<< rmf_utils [21.6s]
Aborted <<< rmf_traffic_msgs [27.2s]
Summary: 3 packages finished [27.4s]
1 package failed: rmf_api_msgs
7 packages aborted: nlohmann_json_schema_validator_vendor rmf_building_map_msgs rmf_dispenser_msgs rmf_door_msgs rmf_fleet_msgs rmf_traffic_msgs rmf_utils
2 packages had stderr output: nlohmann_json_schema_validator_vendor rmf_api_msgs
40 packages not processed
I don’t know where is the cause of this error either. Does anyone knows?
Here’s some important information:
- Operating system and version:
Ubuntu 20.04 - OpenRMF version or commit hash
Main - ROS distribution:
ROS Galactic - ROS installation type:
Via debian packages
