Set up depot map

nexus_integration_tests/CMakeLists.txt

@@ -115,7 +115,7 @@ add_custom_target(generate_zenoh_bridge_configs ALL
   COMMAND ros2 run nexus_network_configuration nexus_network_configuration -n ${nexus_network_cfg_path} -o ${zenoh_cfg_output_dir}
 )
 
-install(DIRECTORY launch config rviz scripts DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY launch config rviz scripts maps DESTINATION share/${PROJECT_NAME})
 # Install the zenoh config directory containing generated configs.
 message("zenoh_cfg_output_dir: " ${zenoh_cfg_output_dir})
 install(DIRECTORY ${zenoh_cfg_output_dir} DESTINATION share/${PROJECT_NAME}/config/)
@@ -177,3 +177,86 @@ if(BUILD_TESTING)
 endif()
 
 ament_package()
+
+# Modified from rmf_demos_maps
+# Get absolute path of the building map
+set(building_map "maps/depot/depot.building.yaml")
+get_filename_component(building_map_path ${building_map} REALPATH)
+
+# Get the output world name
+string(REGEX REPLACE "\\.[^.]*\.[^.]*$" "" no_extension_path ${building_map_path})
+string(REGEX MATCH "[^\/]+$" world_name  ${no_extension_path})
+
+set(output_world_name ${world_name})
+set(output_dir ${CMAKE_CURRENT_BINARY_DIR}/maps/${output_world_name})
+set(output_world_path ${output_dir}/${output_world_name}.world)
+set(output_model_dir ${output_dir}/models)
+
+##############################################################################
+# Generate Gz world and download Models
+##############################################################################
+
+message("BUILDING WORLDFILE WITH COMMAND: ros2 run rmf_building_map_tools building_map_generator gazebo ${building_map_path} ${output_world_path} ${output_model_dir}")
+if (NO_DOWNLOAD_MODELS)
+  add_custom_command(
+    DEPENDS ${building_map_path}
+    COMMAND ros2 run rmf_building_map_tools building_map_generator gazebo ${building_map_path} ${output_world_path} ${output_model_dir}
+    OUTPUT ${output_world_path}
+  )
+else()
+  message("DOWNLOADING MODELS WITH COMMAND: ros2 run rmf_building_map_tools building_map_model_downloader ${building_map_path}")
+  add_custom_command(
+    DEPENDS ${building_map_path}
+    COMMAND ros2 run rmf_building_map_tools building_map_generator gazebo ${building_map_path} ${output_world_path} ${output_model_dir}
+    COMMAND ros2 run rmf_building_map_tools building_map_model_downloader ${building_map_path} -e ~/.gazebo/models
+    OUTPUT ${output_world_path}
+  )
+endif()
+
+##############################################################################
+# Make changes to generated world file. To be removed after
+# rmf_traffic_editor#524 has been released, to use custom template files
+##############################################################################
+
+# Insert Depot model
+set(inserted_depot_phony ${output_dir}/inserted_depot_phony)
+add_custom_command(
+  DEPENDS ${output_world_path}
+  COMMAND sed -i 's|<\/light>|<\/light>\\n<include><uri>https:\/\/fuel.gazebosim.org\/1.0\/OpenRobotics\/models\/Depot<\/uri><pose>15.15 -7.525 0 0 0 0<\/pose><\/include>|g' ${output_world_path}
+  OUTPUT ${inserted_depot_phony}
+)
+add_custom_target(insert_depot_into_${output_world_name} ALL
+  DEPENDS ${inserted_depot_phony}
+)
+
+# Change camera view
+set(replace_camera_view_phony ${output_dir}/replace_camera_view_phony)
+add_custom_command(
+  DEPENDS ${output_world_path}
+  COMMAND sed -i 's|<camera_pose>.*<\/camera_pose>|<camera_pose>1.6679 -8.2494 4.3953 0 0.4919176 0<\/camera_pose>|g' ${output_world_path}
+  OUTPUT ${replace_camera_view_phony}
+)
+add_custom_target(replace_camera_pose_in_${output_world_name} ALL
+  DEPENDS ${replace_camera_view_phony}
+)
+
+##############################################################################
+# Generate the nav graphs
+##############################################################################
+
+set(output_nav_graphs_dir ${output_dir}/nav_graphs/)
+set(output_nav_graphs_phony ${output_nav_graphs_dir}/phony)
+add_custom_command(
+  OUTPUT ${output_nav_graphs_phony}
+  COMMAND ros2 run rmf_building_map_tools building_map_generator nav ${building_map_path} ${output_nav_graphs_dir}
+  DEPENDS ${building_map_path} ${output_world_path}
+)
+
+add_custom_target(generate_${output_world_name}_nav_graphs ALL
+  DEPENDS ${output_nav_graphs_phony}
+)
+
+install(
+  DIRECTORY ${output_dir}
+  DESTINATION share/${PROJECT_NAME}/maps
+)

nexus_integration_tests/config/depot/deliveryRobot_config.yaml

@@ -0,0 +1,46 @@
+# FLEET CONFIG =================================================================
+# RMF Fleet parameters
+
+rmf_fleet:
+  name: "deliveryRobot"
+  limits:
+    linear: [0.7, 0.75] # velocity, acceleration
+    angular: [0.6, 2.0] # velocity, acceleration
+  profile: # Robot profile is modelled as a circle
+    footprint: 0.6 # radius in m
+    vicinity: 0.8 # radius in m
+  reversible: True # whether robots in this fleet can reverse
+  # TODO Update battery parameters with actual specs
+  battery_system:
+    voltage: 24.0 # V
+    capacity: 40.0 # Ahr
+    charging_current: 8.8 # A
+  mechanical_system:
+    mass: 70.0 # kg
+    moment_of_inertia: 40.0 #kgm^2
+    friction_coefficient: 0.22
+  ambient_system:
+    power: 20.0 # W
+  tool_system:
+    power: 0.0 # W
+  recharge_threshold: 0.10 # Battery level below which robots in this fleet will not operate
+  recharge_soc: 1.0 # Battery level to which robots in this fleet should be charged up to during recharging tasks
+  max_delay: 15.0 # allowed seconds of delay of the current itinerary before it gets interrupted and replanned
+  publish_fleet_state: 10.0 # Publish frequency for fleet state, ensure that it is same as robot_state_update_frequency
+  account_for_battery_drain: True
+  task_capabilities: # Specify the types of RMF Tasks that robots in this fleet are capable of performing
+    loop: True
+    delivery: True
+  finishing_request: "charge" # [park, charge, nothing]
+  robots:
+    deliveryRobot1:
+      charger: "deliveryRobotCharger1"
+    deliveryRobot2:
+      charger: "deliveryRobotCharger2"
+
+fleet_manager:
+  ip: "127.0.0.1"
+  port: 22012
+  user: "some_user"
+  password: "some_password"
+  robot_state_update_frequency: 10.0

nexus_integration_tests/launch/depot.launch.xml

@@ -0,0 +1,34 @@
+<?xml version='1.0' ?>
+
+<launch>
+  <arg name="headless" default="true"/>
+  <arg name="use_simulator" default="true"/>
+  <arg name="sim_update_rate" default='100'/>
+
+  <!-- RMF Common launch -->
+  <include file="$(find-pkg-share rmf_demos)/common.launch.xml">
+    <arg name="headless" value="$(var headless)" />
+    <arg name="use_sim_time" value="$(var use_simulator)"/>
+    <arg name="viz_config_file" value ="$(find-pkg-share nexus_integration_tests)/launch/include/depot/depot.rviz"/>
+    <arg name="config_file" value="$(find-pkg-share nexus_integration_tests)/maps/depot/depot.building.yaml"/>
+  </include>
+
+  <!-- DeliveryRobot fleet adapter -->
+  <group>
+    <include file="$(find-pkg-share rmf_demos_fleet_adapter)/launch/fleet_adapter.launch.xml">
+      <arg name="use_sim_time" value="$(var use_sim_time)"/>
+      <arg name="nav_graph_file" value="$(find-pkg-share nexus_integration_tests)/maps/depot/nav_graphs/0.yaml" />
+      <arg name="config_file" value="$(find-pkg-share nexus_integration_tests)/config/depot/deliveryRobot_config.yaml"/>
+    </include>
+  </group>
+
+  <!-- Simulator launch -->
+  <include if="$(var use_simulator)" file="$(find-pkg-share rmf_demos_gz)/simulation.launch.xml">
+    <arg name="headless" value="$(var headless)" />
+    <arg name="map_package" value="nexus_integration_tests" />
+    <arg name="map_name" value="depot" />
+    <arg name="gazebo_version" value="8" />
+    <arg name="sim_update_rate" value="$(var sim_update_rate)"/>
+  </include>
+
+</launch>