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RMF Demos Panel

Here we describe additional details of rmf_demos_panel. This package uses a simple web server to expose the essential RMF topics/services to users as web endpoints. Currently, this lite implementation is useful for task submission and observing status of on-going tasks and robots in RMF.

For a full-proof web application of RMF, please refer to rmf-web.

Note: not to be confused with the simple-api-server in rmf_demos and "prod version" of api-server in rmf-web

RMF Dependencies

  • rmf_task_ros2
  • rmf_fleet_msgs
  • rmf_demos_dashboard_resources

Setup rmf_demos_panel

python3 -m pip install flask-socketio
colcon build --packages-select rmf_demos_panel

Run

Test Run with office world

  1. Start Office World
ros2 launch rmf_demos_gz office.launch.xml

Simple CURL Test

# Submit Task (POST)
curl -X POST http://localhost:8083/submit_task \
-d '{"task_type":"Loop", "start_time":0, "description": {"start_name": "coe", "finish_name": "pantry", "num_loops":1}}' \
-H "Content-Type: application/json" 

# Get Task List (GET)
curl http://localhost:8083/task_list

rmf-panel-js

A front end dashboard, rmf-panel-js is also provided. This will will be the client for the rmf_demos's api server.

Launch the a web dashboard: https://open-rmf.github.io/rmf-panel-js/

API Endpoints

Endpoints Type Parameters Description
/submit_task POST task description json This supports submission of task. This response with an assigned task_id is the task is accepted
/cancel_task POST task_id string Cancel an existing task in rmf.
/task_list GET NA Get list of task status in RMF (include active and terminated tasks)
/robot_list GET NA Get list of Robot states in RMF
/task_status SocketIO NA Constant broadcast of task list
/robot_states SocketIO NA Constant broadcast of robot list

Run Sample Tasks

Submit a list of tasks* On the right side column of the panel, users are able to select a file which consists of a list of
tasks. Example. for office world, load rmf_demos_tasks/rmf_demos_tasks/office_tasks.json. Once the tasks are populated in the box, hit submit!

More details on the format for the .json file is presented below.

For loop requests:

{"task_type":"Loop", "start_time":0, "priority":0, "description": {"num_loops":5, "start_name":"coe", "finish_name":"lounge"}}

For delivery requests:

{"task_type":"Delivery", "start_time":0, "priority":0, "description": {"option": "coke"}}

Internally, the option coke is mapped to a set of parameters required for a delivery request. This mapping can be seen in the rmf_demos_dashboard_resources/office/dashboard_config.json file.

For clean requests:

{"task_type":"Clean", "start_time":0, "priority":0, "description":{"cleaning_zone":"zone_2"}}

Submit a task* User can also submit a single task request via the request form on the top-left side of the page.

The latest robot states and task summaries will be reflected at the bottom portion of the GUI.

Note

  • Edit the dashboard_config.json to configure the input of the Demo World GUI Task Submission. The dashboard config file is located here: rmf_demos_dashboard_resources/$WORLD/dashboard_config.json.
  • server ip is configurable via RMF_DEMOS_API_SERVER_IP in the dashboard.launch.xml
  • The simple_api_server outputs and stores a summarized log: web_server.log.
  • cancel task will not be working. A fully functional cancel will be introduced in a future PR.
  • Rosdep will automatically install system version of python3-flask and python3-flask-cors. Yet we will download flask-socketio (5.x) separately via pip since the ubutuntu packaged version is too old.