Posted by @victomteng1997:
I would like to ask if the robot models used in the rmf demo worlds are real-world robots? Like the tiny robot, is it a model of some real-world robots or just a simplified model for the ease of simulation and demonstration?
Also, is it possible to replace some of the robots in this demo world with real-world robots? Thanks for any suggestion or help!
Chosen answer
Answer chosen by @victomteng1997 at 2021-07-30T13:52:18Z.
Answered by @arjo129:
The tinyRobots are simulated versions of a Magni Robot. It is a simplified version that uses a simplified model assuming perfect localization (Although we do simulate a lot of physics).
It is very much possible to use real world models and has been done before. You may want to take a look at the fleet adapter API for integrating with your own robot. Alternatively, you can take a look at freefleet GitHub - open-rmf/free_fleet: A free fleet management system. which we use to interface between RMF and real world ROS robots. We have successfully integrated with other realworld robots before including Magnis, HOSPIs, MIRs just to name a few.
I’m not too sure what replace the robots with “real world robots” in the demo means. That being said we do need to do an example with freefleet and rmf fully integrated. Contributions are welcome.
Posted by @arjo129:
The tinyRobots are simulated versions of a Magni Robot. It is a simplified version that uses a simplified model assuming perfect localization (Although we do simulate a lot of physics).
It is very much possible to use real world models and has been done before. You may want to take a look at the fleet adapter API for integrating with your own robot. Alternatively, you can take a look at freefleet GitHub - open-rmf/free_fleet: A free fleet management system. which we use to interface between RMF and real world ROS robots. We have successfully integrated with other realworld robots before including Magnis, HOSPIs, MIRs just to name a few.
I’m not too sure what replace the robots with “real world robots” in the demo means. That being said we do need to do an example with freefleet and rmf fully integrated. Contributions are welcome.
Edited by @arjo129 at 2021-07-30T04:45:32Z
This is the chosen answer.
Posted by @victomteng1997:
This is very helpful to me, thanks for the info!
I’m using this demo for some ROS2 based MRS research work. I was thinking if all the robot models in this demo world are simplified from some industrial robots, so maybe I can get those robots physically and work on some simple tasks in the real-world environment. Ideally, I want to build a simple simulation environment that is the similar size of the office world, but the robots inside are turtlebots with real physics simulation and communication, so that the system can be directly implemented on real-world robots. I looked at the free_fleet project and I realize that this is what I need.
I’ll look at the fleet adapter API, and thanks again for your help!