Posted by @Odin-byte:
I want to start working with the RMF traffic manager. As a starting point and to understand the overall structure of rmf core I want to start by playing around with the demos.
I am working on Ubuntu 22.04 using ROS2 Iron.
Before installing the rmf packages I have installed ROS2 iron following the instructions of the official docs: Ubuntu-Install-Debians — ROS 2 Documentation: Iron documentation
After that I installed gazebo ignition (fortress) following these instructions:
After that I installed ros_gz following the these steps:
export GZ_VERSION=fortress
# Setup the workspace
mkdir -p ~/ws/src
cd ~/ws/src
# Download needed software
git clone https://github.com/gazebosim/ros_gz.git -b humble
Or do i need to clone from the iron branch?
cd ~/ws
rosdep install -r --from-paths src -i -y --rosdistro iron
After that I build the workspace with colcon build. The build is successful besides one deprecation warning for rosidl_cmake.
Now we get to the rmf packages as all prerequisites are met (Ubuntu 22.04, Ros2 Iron and Gazebo Fortress (with ros_gz build from source).
I follow along every step in the readme of the iron branch (GitHub - open-rmf/rmf at iron) for the binary installation.
After running all setup steps I run:
sudo apt update && sudo apt install ros-iron-rmf-dev
All went through without any errors.
To build rmf_demos I run:
mkdir ~/rmf_ws/src -p
cd ~/rmf_ws/src
git clone https://github.com/open-rmf/rmf_demos.git -b 2.1.2
cd ~/rmf_ws
colcon build
This also builds with just one deprecation warning from the shapely package.
Now when trying to run the office demo by using
ros2 launch rmf_demos_gz office.launch.xml server_uri:="ws://localhost:7878"
Gazebo / Ignition is not started, also there are no robots spawned within RVIZ.
The console output can be found here: Output of office launch open rmf demos · GitHub
When trying to start the demo using the corresponding classic launchfile gazebo is started but besides the 2 tiny bots no models can be loaded. When initiating the coke delivery request using the webinterface the robot moves to the pickup location but gets stuck there as there is nothing to pickup.
The console output, up to this point looks as follows:
I hope some of you can spot any errors. I have not made any changes to the demos and followed all installation steps as described in the readme (and documented here)
Thanks for your time and help! I appreciate it!