Open-RMF Next Generation Prototyping

This repo is a temporary space for drafting prototype data structures and design documents for the next generation of Open-RMF.

If you would like to give feedback or input on the designs, you are welcome to open issue tickets, submit pull requests, or post to the ideas board on discourse.

Setup & Building

⚠️ As this is a project under construction, these instructions are likely to change rapidly.

Pre-requisites

• ROS 2 jazzy
• The latest Rust compiler.
• Cargo extensions for colcon

Build Instructions

1. Install ROS 2, rust and colcon-cargo.

Method 1: On your local system (click here)

a. Install ROS 2 Jazzy. Make sure to install the development tools.

b. Install rust:

curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
exec bash

c. Install colcon extensions:

# Install required system packages
sudo apt install -y git libclang-dev python3-pip

# Install colcon plugins for Rust
sudo apt install python3-colcon-cargo
pip3 install --break-system-packages colcon-ros-cargo
cargo install cargo-ament-build

Method 2: Using a container (click here)

We pre-build base containers with all the dependencies you can use rocker, distrobox, podman or any other oci compliant tool to get a base dev environment. For the purposes of this set of instructions we use distrobox:

distrobox create --image ghcr.io/open-rmf/ros2_rust_base:jazzy -n ros2_rust_base
distrobox enter ros2_rust_base

2. Import Workspace Dependencies

Create a workspace and clone the repo:

mkdir -p rmf_ws/src
cd rmf_ws/src
git clone https://github.com/open-rmf/next_gen_prototype.git
cd ..

3. Install ROS package dependencies

rosdep update
rosdep install --from-paths src --ignore-src --rosdistro jazzy -yr

4. Build the PR Packages

Ensure you are at the workspace root inside the jazzy distrobox container, then build the relevant packages:

source /opt/ros/jazzy/setup.bash
colcon build

Running Automated Integration Tests

Verify core scenario coordination and robust following behavior:

colcon test --packages-select rmf_path_server_test --event-handlers console_direct+

Running the Interactive Web Demonstration

path_server_smol.mp4

Launch the fully standalone path server dashboard:

ros2 launch rmf_path_server_demo demo.launch.py

1. Open http://localhost:8080 in your web browser.
2. Click Add Robot to drop active participants onto the canvas.
3. Select a robot and click a cell to place its goal.
4. Click Send Scenario to observe multi-agent trajectory generation and live execution progress.