Nodes docs

src/SUMMARY.md

@@ -10,6 +10,14 @@
   - [The ROS API](./ros2_api.md)
 - [Traffic Editor](./traffic-editor.md)
 - [Simulation](./simulation.md)
+  - [Launch Files](./sim_launchfiles.md)
+    - [Blockade](./sim_launchfiles_blockade.md)
+    - [Dispatcher](./sim_launchfiles_dispatcher.md)
+    - [Door](./sim_launchfiles_door.md)
+    - [Lift](./sim_launchfiles_lift.md)
+    - [Traffic Monitor](./sim_launchfiles_trafficmonitor.md)
+    - [Traffic Schedule](./sim_launchfiles_trafficschedule.md)
+    - [Traffic Visualiser](./sim_launchfiles_visualiser.md)
 - [RMF Core Overview](./rmf-core.md)
   - [Frequently Asked Questions](./rmf-core_faq.md)
 - [Tasks in RMF](./task.md)

src/sim_launchfiles.md

@@ -0,0 +1,46 @@
+# Launch Files for RMF
+
+> Note: This tutorial focuses on launch files with respect to Open-RMF. For understanding launch files better it is recommend to use the tutorials on the website of the ROS2 distro that is being used for example for galactic the documentation can be found [here](https://docs.ros.org/en/galactic/Tutorials/Intermediate/Launch/Launch-Main.html)
+
+## Example Launch File
+
+[office.launch.xml](https://github.com/open-rmf/rmf_demos/blob/main/rmf_demos/launch/office.launch.xml)
+
+```xml
+<?xml version='1.0' ?>
+
+<launch>
+  <arg name="use_sim_time" default="false"/>
+
+  <!-- Common launch -->
+  <include file="$(find-pkg-share rmf_demos)/common.launch.xml">
+    <arg name="use_sim_time" value="$(var use_sim_time)"/>
+    <arg name="viz_config_file" value ="$(find-pkg-share rmf_demos)/include/office/office.rviz"/>
+    <arg name="config_file" value="$(find-pkg-share rmf_demos_maps)/office/office.building.yaml"/>
+    <arg name="dashboard_config_file" value="$(find-pkg-share rmf_demos_dashboard_resources)/office/dashboard_config.json"/>
+  </include>
+
+  <!-- TinyRobot fleet adapter -->
+  <group>
+    <include file="$(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 rmf_demos_maps)/maps/office/nav_graphs/0.yaml" />
+      <arg name="config_file" value="$(find-pkg-share rmf_demos)/config/office/tinyRobot_config.yaml"/>
+    </include>
+  </group>
+
+</launch>
+```
+
+The launch file contains a include tag will contains all the nodes from `common.launch.xml` and group tag inside which the launch files of the project can be included. This is enough to get started with your project.
+
+Information about each node:
+
+- [Blockade](./sim_launchfiles_blockade.md)
+- [Dispatcher](./sim_launchfiles_dispatcher.md)
+- [Door](./sim_launchfiles_door.md)
+- [Lift](./sim_launchfiles_lift.md)
+- [Traffic Monitor](./sim_launchfiles_trafficmonitor.md)
+- [Traffic Schedule](./sim_launchfiles_trafficschedule.md)
+- [Traffic Monitor](./sim_launchfiles_trafficmonitor.md)
+- [Visualiser](./sim_launchfiles_visualiser.md)

src/sim_launchfiles_blockade.md

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+## Blockade Moderator
+
+Checks if a blockade has occurred anywhere.
+
+```xml
+  <!-- Blockade Moderator -->
+  <node pkg="rmf_traffic_ros2" exec="rmf_traffic_blockade" output="both">
+    <param name="use_sim_time" value="$(var use_sim_time)"/>
+  </node>
+```
+
+The code for the blockade node can be found [here](https://github.com/open-rmf/rmf_ros2/blob/main/rmf_traffic_ros2/src/rmf_traffic_ros2/blockade/Node.cpp)
+The blockade node has the following topics:
+
+- [BlockadeCancel](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/BlockadeCancel.msg)
+- [BlockadeHeartbeat](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/BlockadeHeartbeat.msg)
+- [BlockadeReached](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/BlockadeReached.msg)
+- [BlockadeReady](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/BlockadeReady.msg)
+- [BlockadeRelease](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/BlockadeRelease.msg)
+- [BlockadeSet](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/BlockadeSet.msg)
+- [BlockadeStatus](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/BlockadeStatus.msg)
+
+The blockade node is connected to the both the robots as seen in the graph below.
+![blockade_rqt_graph](./images/blockade_rosgraph.png)

src/sim_launchfiles_dispatcher.md

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+## Dispatcher Node
+
+Used for task dispatch. Every fleet that can perform a task request will offer a bid for how much it would "cost" them to perform a task, and the bid with the lowest "cost" will be the winner. The "cost" will be determined by two factors:
+
+- How quickly the task is finished
+- How much other tasks get delayed if the new task needs to preempt them
+
+```xml
+  <!-- Dispatcher Node -->
+  <group>
+    <node pkg="rmf_task_ros2" exec="rmf_task_dispatcher"  output="screen">
+      <param name="use_sim_time" value="$(var use_sim_time)"/>
+      <param name="bidding_time_window" value="$(var bidding_time_window)"/>
+    </node>
+  </group>
+```
+
+The code for the dispatcher node can be found [here](https://github.com/open-rmf/rmf_ros2/blob/main/rmf_task_ros2/src/dispatcher_node/main.cpp)
+The dispatcher node has the following topics:
+
+- [DispatchAck](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_task_msgs/msg/DispatchAck.msg)
+- [DispatchCommand](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_task_msgs/msg/DispatchCommand.msg)
+- [DispatchState](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_task_msgs/msg/DispatchState.msg)
+- [DispatchStates](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_task_msgs/msg/DispatchStates.msg)
+
+The dispatcher node is responsible for dispatching tasks to the robots.It responds to the `dispatch_request` and `bid_notice`.It takes information from the `bid_proposal` and `dispatch_ack` which is published by `rmf_task`.
+![dispatcher node](./images/dispatcher_rosgraph.png)

src/sim_launchfiles_door.md

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+## Door Supervisor
+
+It is part of `rmf_fleet_adapter`. It is used to supervise the door. To perform action based on request.The door can be opend or closed based on request.
+
+```xml
+  <!-- Door Supervisor -->
+  <group>
+    <node pkg="rmf_fleet_adapter" exec="door_supervisor">
+      <param name="use_sim_time" value="$(var use_sim_time)"/>
+    </node>
+  </group>
+```
+
+The code for the Door Supervisor node can be found [here](https://github.com/open-rmf/rmf_ros2/blob/main/rmf_fleet_adapter/src/door_supervisor/Node.cpp)
+The Door Supervisor has following topics:
+
+- [DoorMode](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_door_msgs/msg/DoorMode.msg)
+- [DoorRequest](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_door_msgs/msg/DoorRequest.msg)
+- [DoorSessions](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_door_msgs/msg/DoorSessions.msg)
+- [DoorState](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_door_msgs/msg/DoorState.msg)
+
+The Door Supervisor attends to requests and keeps track of the state of the Door.
+  ![door supervisor](./images/doorsupervisor_rosgraph.png)

src/sim_launchfiles_lift.md

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+## Lift Supervisor
+
+It is part of `rmf_fleet_adapter`. It is used to supervise the lift. To perform action based on request. A lift adapter subscribes to `lift_states` while keeping track of the internal and desired state of the lift in order to prevent it from performing any actions that might interrupt
+
+```xml
+ <!-- Lift Supervisor -->
+ <group>
+   <node pkg="rmf_fleet_adapter" exec="lift_supervisor">
+     <param name="use_sim_time" value="$(var use_sim_time)"/>
+   </node>
+ </group>
+```
+
+The code for the blockade node can be found [here](https://github.com/open-rmf/rmf_ros2/blob/main/rmf_fleet_adapter/src/lift_supervisor/Node.cpp)
+The Life Supervisor has following topics:
+
+- [LiftRequest](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_lift_msgs/msg/LiftRequest.msg)
+- [LifeState](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_lift_msgs/msg/LiftState.msg)
+
+The Life Supervisor does the job of maintaining the status of the Lift and attend to any requests by the robots.
+![Life Supervisor](./images/liftsupervisor_rosgraph.png)

src/sim_launchfiles_trafficmonitor.md

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+## Traffic Schedule monitor and replacement node
+
+This node is helps in monitoring the `rmf_traffic_schedule` and provides a replacement if the rmf_traffic_schedule faces any conflicts.
+
+```xml
+  <node pkg="rmf_traffic_ros2" exec="rmf_traffic_schedule_monitor" output="both" name="rmf_traffic_schedule_backup">
+    <param name="use_sim_time" value="$(var use_sim_time)"/>
+  </node>
+```
+
+The code for the blockade node can be found [here](https://github.com/open-rmf/rmf_ros2/blob/main/rmf_traffic_ros2/src/rmf_traffic_schedule_monitor/main.cpp)
+The Traffic Schedule monitor has following topics:
+
+- [ScheduleChangeAdd](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/ScheduleChangeAdd.msg)
+- [ScheduleChangeAddItem](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/ScheduleChangeAddItem.msg)
+- [ScheduleChangeCull](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/ScheduleChangeCull.msg)
+- [ScheduleChangeDelay](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/ScheduleChangeDelay.msg)
+- [ScheduleChangeProgress](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/ScheduleChangeProgress.msg)
+- [ScheduleIdentity](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/ScheduleIdentity.msg)
+- [ScheduleInconsistency](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/ScheduleInconsistency.msg)
+- [ScheduleInconsistencyRange](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/ScheduleInconsistencyRange.msg)
+- [ScheduleParticipantPatch](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/ScheduleParticipantPatch.msg)
+- [SchedulePatch](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/SchedulePatch.msg)
+- [ScheduleQueries](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/ScheduleQueries.msg)
+- [ScheduleQuery](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/ScheduleQuery.msg)
+- [ScheduleQueryParticipants](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/ScheduleQueryParticipants.msg)
+- [ScheduleQuerySpacetime](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/ScheduleQuerySpacetime.msg)
+
+![Traffic Schedule](./images/trafficmonitor_rosgraph.png)

src/sim_launchfiles_trafficschedule.md

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+## Traffic Schedule
+
+The `rmf_traffic_schedule` handles core scheduling and traffic management systems.
+
+```xml
+  <!-- Traffic Schedule  -->
+  <node pkg="rmf_traffic_ros2" exec="rmf_traffic_schedule" output="both" name="rmf_traffic_schedule_primary">
+    <param name="use_sim_time" value="$(var use_sim_time)"/>
+  </node>
+```
+
+The code for the schedule node can be found [here](https://github.com/open-rmf/rmf_ros2/blob/main/rmf_traffic_ros2/src/rmf_traffic_schedule/main.cpp)
+
+Traffic Schedule has following topics
+
+- [NegotiationNotice](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/NegotiationNotice.msg)
+- [NegotiationAck](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/NegotiationAck.msg)
+- [NegotiationForfeit](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/NegotiationForfeit.msg)
+- [ScheduleInconsistency](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/ScheduleInconsistency.msg)
+- [Trajectory](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/Trajectory.msg)
+- [ItineraryDelay](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/ItineraryDelay.msg)
+- [ItineraryClear](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/ItineraryClear.msg)
+- [ItineraryErase](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/ItineraryErase.msg)
+- [ItineraryExtend](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/ItineraryExtend.msg)
+- [NegotiationProposal](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/NegotiationProposal.msg)
+- [NegotiationRejection](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/NegotiationRejection.msg)
+- [Participants](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/Participants.msg)
+- [NegotiationConclusion](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/NegotiationConclusion.msg)
+- [Heartbeat](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/Heartbeat.msg)
+- [NegotiationRefusal](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/NegotiationRefusal.msg)
+- [ItinerarySet](https://github.com/open-rmf/rmf_internal_msgs/blob/main/rmf_traffic_msgs/msg/ItinerarySet.msg)
+
+The Traffic Schedule does the job of planning what paths robots will follow,scheduling and performs negotiations between different robots.
+
+![Traffic Schedule](./images/rmftrafficschedule_rosgraph.png)

src/sim_launchfiles_visualiser.md

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+## Visualizer
+
+Used for visualization using rviz.
+
+```xml
+<!-- Visualizer -->
+  <group>
+    <include file="$(find-pkg-share rmf_visualization)/visualization.launch.xml">
+      <arg name="use_sim_time" value="$(var use_sim_time)"/>
+      <arg name="map_name" value="$(var initial_map)"/>
+      <arg name="viz_config_file" value ="$(var viz_config_file)"/>
+      <arg name="headless" value="$(var headless)"/>
+    </include>
+  </group>
+```
+
+![Visualizer](./images/visualiser_rosgraph.png)