Posted by @CreativeInterested:
Hi, I am currently using ROS2 Humble, Ubuntu 22.04, and I am trying to integrate my physical robot, The Originbot, with the Open-RMF system. I have tried to adapt the code from unit 6 of the Robot Fleet Management ROS2 Humble course in TheConstruct, but I am getting some errors when I run the fleet_adapter.py file. The first one is the one below:
Coordinate transformation error: 40041472014.35689
RMF to Robot transform:
rotation:0.1669748345397551
scale:22436.581919543834
trans:[-144220.278841231, 26674.508565925025]
Robot to RMF transform:
rotation:-0.16697483453975506
scale:6.903932766499679e-06
trans:[5.659233432489587, -5.09914031887319]
The second error is that the robot is not able to appear in the RMF Panel once all the necessary commands are launched and run, and the system is not able to recognise that the robot exists. The ones below are the links to the gists containing all the codes, as well as the commands I used to launch and run:
(rmf_to_nav.py): rmf_to_nav.py code (for rmf physical robot integration) · GitHub
(RobotClientAPI.py): RobotClientAPI.py code (for rmf physical robot integration) · GitHub
(RobotCommandHandle.py): RobotCommandHandle.py code (for rmf physical robot integration) · GitHub
(robot_api_server_originbot.py): robot_api_server_originbot.py code (for rmf physical robot integration) · GitHub
(fleet_adapter.py): fleet_adapter.py code (for rmf physical robot integration) · GitHub
(adapters_rmf_only_launch.xml): adapters_rmf_only_launch.xml · GitHub
(originbot_config.yaml): originbot_config.yaml (for rmf physical robot integration) · GitHub
These are the commands that were launched and run:
ros2 run physical_rmf rmf_to_nav.launch.xml
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
ros2 launch physical_rmf adapters_rmf_only.launch.xml
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
ros2 run physical_api robot_api_server_originbot
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export NAV_GRAPH=~/rmf_ws/install/physical_rmf/share/physical_rmf/maps/lab07/nav_graphs/1.yaml
export CONFIG_FILE=~/rmf_ws/src/physical_rmf/adapter_config/originbot_config.yaml
ros2 run physical_api fleet_adapter -c $CONFIG_FILE -n $NAV_GRAPH
Is someone aware of why this occurs and how to resolve it? Would be a great help.