Hello everyone,
I am working on a robot fleet management system called LGDXRobot Cloud. It is a cloud-based platform that monitors robot status and manages automated logistics tasks. The system is also designed to integrate different web services and ROS nodes through customisable workflows. I started this project because I wanted to explore web development (As a hobby). I don’t have the intention of competing with existing projects. The project is fully open source.
Design
Cloud Server: It acts as the orchestrator of the system, managing everything including maps, robots, and tasks. It is responsible for assigning tasks to robots and with defined waypoints and customised workflows. Users can access the Cloud Server through a web interface to manage the entire system.
Robots: It is an Autonomous Mobile Robot (AMR) running ROS 2 and Nav2. It receives tasks from the cloud, plans paths according to assigned waypoints, integrates with third-party ROS nodes, and reports results back to the Cloud Server.
Communication: Communication is handled through gRPC streaming. The Cloud Server acts as the server, while each robot runs client software called LGDXRobot Cloud Adapter.
Features & Demos
Monitor multiple robots within a fleet. In this demo, two robots are managed simultaneously, and users can select a robot to view its current location, active task, and planned path. Click here for the video demonstrating its use on a real robot.
In a new environment, maps can be generated using SLAM in Nav2. The generated map data is automatically transferred to the Cloud Server.
LGDXRobot Cloud recently added support for the Nav2 Route Server. Users can create routes through the web interface, deploy them to robots automatically, and the robots plan paths according to the defined routes. Click here to watch a video demonstrating how it works.
The system supports task assignment and task priorities, workflow definitions for task execution, and triggers for integration with web APIs.
As a web service, it provides user and permission management. Users can also enable dark theme.
Last but not least, the system can automatically send an email notification for every incident to a specific group of users.
Current Status
I am currently developing new features on ROS 2 Kilted and preparing for migration to ROS 2 Lyrical. The current stable release targets ROS 2 Jazzy.
Links
LGDXRobot Cloud: https://github.com/yukaitung/lgdxrobot-cloud
(Visit the nav2-route-branch for the latest updates.)
LGDXRobot Cloud Adapter: https://github.com/yukaitung/lgdxrobot-cloud-adapter
(Visit the routedemo branch for the latest updates.)
I have also prepared a preinstalled Docker image for an example ROS 2 robot (Based on https://github.com/yukaitung/lgdxrobot2-ros2 and it also use routedemo branch for the latest updates.):
docker run -d \
--name lgdxrobot2 \
-e PUID=1000 \
-e PGID=1000 \
-p 3000:3000 \
-p 3001:3001 \
lgdxrobot/lgdxrobot2-desktop:routedemo
The image is based on ROS 2 Kilted. Currently, only Webots is supported as the simulator.
In lgdxrobot2_bringup package, use webots_nav.launch.py for a single robot simulation, or simulation_two_robots.launch for a two robots simulation.