Please enable JavaScript.

Coggle requires JavaScript to display documents.

Launch different RMF env. - Coggle Diagram

- - - - [node] {full_control} (以下的值是 hard coding 在 hpp)
        
        subscribe LaneRequest '/lane_closure_requests'
        
        subscribe InterruptRequest '/robot_interrupt_request'
        
        subscribe ModeRequest '/action_execution_notice'
        
        subscribe FleetState '/fleet_states'
        
        publish ClosedLanes '/closed_lanes'
        
        publish PathRequest '/robot_path_requests'
        
        publish ModeRequest '/robot_mode_requests'
        
        7878 由 cmd [ ros2 launch rmf_demos msi_lobby_sim.launch.xml server_uri:="ws://localhost:7878" ]帶入
        
        connect to [ws://localhost:7878] :red_flag: :red_flag: :red_flag:
        -- used to publish tasks and robot state
- - - - [noed] rmf_traffic_blockade
      - [node] building_map_server
        
        map path: /home/rc1/amrpoc/FMS/install/rmf_demos_maps/share/rmf_demos_maps/office/office.building.yaml
        
        發送 map :red_flag: :red_flag: :red_flag: :red_flag:
      - [incl.] visualization.launch.xml
        
        [node] schedule_visualizer
        
        TrajectoryServer.cpp
        -- Websocket server started on port: 8006
        
        ScheduleMarkerPublisher 接收 map data :red_flag: :red_flag: :red_flag: :red_flag:
        
        [node] rmf_visualization_fleet_states
        
        [node] rmf_visualization_building_systems
        
        rviz2
      - [node] door_supervisor
      - [node] lift_supervisor
      - [node] rmf_task_dispatcher
        -- subs '/task_api_requests'
        -- pubs '/task_api_responses'
        -- pubs '/rmf_task/bid_notice'
        -- subs '/rmf_task/bid_response'
        -- pubs '/dispatch_states'
        -- pubs '/rmf_task/dispatch_request'
        -- subs '/rmf_task/dispatch_ack'
        -- service '/cancel_task'
        -- service '/get_dispatches'
        -- service '/rmf_task_dispatcher/describe_parameters'
      - [incl.] dashboard.launch.xml
        
        [node] simple_api_server :star:
        
        Set Server port to: localhost:8083
        Set RMF Websocket port to: localhost:7878 :red_flag: :red_flag: :red_flag:
        
        server_ip: 0.0.0.0
        server_port_num: 8083 <== used for restful api
        ws_server_port_num: 7878
        dashboard_config_file: ""
      - [node] rmf_traffic_schedule_monitor
      - [node] rmf_traffice_schedule
    - - [node] fleet_manager
      - [node] fleet_adapter
        
        Successfully added new robot: tinyRobot1
        
        BroadcastClient unable to connect to [ws://localhost:8000/_internal]. Please make sure server is running. Error msg: invalid state :red_cross:
- - - - [Settings for api-server]
        default_config.py
        "port": 8000:red_flag::red_flag::red_flag::red_flag::red_flag:
        route: _internal