Robot Fleet Management in ROS2 v2 Course - Python

Learn how to set up a robot fleet and manage it with the RMF infrastructure.

Course Summary

Managing fleets of robots is tough work. That's why having a high-level API for managing fleets of different robots and systems is key.

RMF allows you to do that.

It gives you the tools to: * Manage different fleets of robots * Assign tasks to the robot best suited for the job based on criteria like the type of robot and the time spent doing that task or battery level. * Integrate already existing robot systems through API calls and ROS2 topics. * Integrate non-robot systems like doors, lifts, and humans.

What you will learn

RMF basic structure
How to create a compliant RMF simulation
How to set up Free Fleet for autonomous mobile robots
How to set up basic tasks like deliver, clean, patrol, and charge
How to create your own custom fleet adapter to integrate API and ROS2 systems of your robot into RMF.
How to dock in RMF
How to clean with RMF
How to create a GUI for humans to interact with RMF

Course Overview

Introduction to fleet management

Understand what fleet management entails and why it is required.

Simple RMF Setup - Part 1

Learn how to set up a basic RMF-enabled system.

Simple RMF Setup - Part 2

Learn how to set up a basic RMF setup with two robots in the same fleet.

Simple RMF Setup - Part 3

Learn how to setup a basic RMF system with two different fleets

Custom Adapter step by step - Part 1

Learn how to create an RMF adapter for your own robot.

Custom Adapter step by step - Part 2

Learn how to create an RMF adapter for your own robot that uses ROS2 navigation stack.

RMF Map Transforms

Learn how to adjust your RMF setup for translations between the RMF coordinates and the robot's location coordinates.

Custom Task

Learn one method to create custom tasks for your robots triggered when arriving to certain locations.

Multifleet with custom adapters

Learn how to set up your custom adapters to have different robot fleets in the same systems.

Default Tasks

Learn about the default tasks defined in RMF.

Battery Management

Learn how RMF manages the battery levels of your robot fleet.

Human Interaction with RMF

Learn how to integrate human-operated systems in RMF.

Interaction With Other Systems

Learn how to integrate non-robot fleet systems in RMF, like robot arms.

Custom rmf-panel-js

Learn how to create your own web interface for asking tasks to RMF.

RMF Traffic Editor

Learn about the RMF tool for map creation, create gazebo simulations based on that and add RMF-ready robots to the simulation.

Doors

Learn how to add RMF-enabled doors with the traffic editor tool.

Multilevel Environments

Learn how to create maps with multiple floors compatible with RMF with the traffic editor tool.