The Open-RMF platform for multi-fleet robot management.

These are the current Open-RMF binary releases available:

Even though binary versions are avilable, given the fast development and frequent updates to Open-RMF, it is heavily recommended to follow instructions bellow and install from source.

First, please follow the installation instructions for ROS 2 Humble. If you are on an Ubuntu 22.04 LTS machine (as recommended), here is the binary install page for ROS 2 Humble on Ubuntu 22.04.

Setup your computer to accept Gazebo packages from packages.osrfoundation.org.

sudo apt update
sudo apt install -y wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

In order to get the latest developments we recommend you to install from sources and compile Open-RMF yourself.

Install all non-ROS dependencies of Open-RMF packages,

sudo apt update && sudo apt install \
  git cmake python3-vcstool python3-pip curl \
  -y
python3 -m pip install flask-socketio fastapi uvicorn datamodel_code_generator
sudo apt-get install python3-colcon*

rosdep helps install dependencies for ROS packages across various distros. It can be installed with:

sudo apt install python3-rosdep
sudo rosdep init
rosdep update

Note all repositories now have a galactic-devel branch. New changes will be targeted for ROS2 Humble. If any change is compatible with ROS2 galactic they will be backported to the galactic-devel branch.

Setup a new ROS 2 workspace and pull in the demo repositories using vcs,

mkdir -p ~/rmf_ws/src
cd ~/rmf_ws
wget https://raw.githubusercontent.com/open-rmf/rmf/main/rmf.repos
vcs import src < rmf.repos

Ensure all ROS 2 prerequisites are fulfilled,

you can subsutitute your distro name for <your ros distro>

Example: for humble

cd ~/rmf_ws
rosdep install --from-paths src --ignore-src --rosdistro humble -y

NOTE: Due to newer changes in the source build, there might be conflicts and compilation errors with older header files installed by the binaries. Please remove the binary installations before building from source, using sudo apt remove ros-humble-rmf*.

Compiling on Ubuntu 22.04:

sudo apt update
sudo apt install clang clang-tools lldb lld libstdc++-12-dev

NOTE: We strongly recommend compiling Open-RMF packages with clang as compiler and lld as linker.

Update colcon mixin which is a one time step:

colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
colcon mixin update default

Compile the workspace:

cd ~/rmf_ws
source /opt/ros/humble/setup.bash

export CXX=clang++
export CC=clang
colcon build --mixin release lld

NOTE: The first time the build occurs, many simulation models will be downloaded from Ignition Fuel to populate the scene when the simulation is run. As a result, the first build can take a very long time depending on the server load and your Internet connection (for example, 60 minutes).

Latest Open-RMF binary packages are available for Ubuntu Jammy 22.04 for the Humble and Rolling releases of ROS 2. Older releases are also available on Ubuntu Focal 20.04 for Foxy and Galactic. Most Open-RMF packages have the prefix rmf on their name, therefore, you can find them by searching for the pattern ros-<ro2distro>-rmf, e.g., for humble it would be:

apt-cache search ros-humble-rmf

Note: RMF Demos package cannot be installed on Humble distro because of an underlying issue with the release of a bad version of fastapi in jammy. You can install the package from source. It is important to have fastapi installed via pip and not as an Ubuntu system package (ie, via apt install) for the reasons documented above. Please follow the instructions in the Additional Dependencies section to install fastapi along with other dependencies needed to run Open-RMF demos.

Alternatively, you can run RMF Demos by using docker.

Pull docker image from open-rmf/rmf github registry (setup refer here).

docker pull ghcr.io/open-rmf/rmf/rmf_demos:latest
docker tag ghcr.io/open-rmf/rmf/rmf_demos:latest rmf:latest

Run it!

docker run -it --network host rmf:latest bash -c "export ROS_DOMAIN_ID=9; ros2 launch rmf_demos_gz office.launch.xml headless:=1"

This will run rmf_demos in headless mode. Open this link with a browser to start a task.

(Experimental) User can also run rmf_demos in “non-headless” graphical form, via rocker.

Demonstrations of Open-RMF are shown in rmf_demos.

A near-term roadmap of the entire Open-RMF project (including and beyond rmf_traffic) can be found in the user manual here.

Instructions on how to integrate your system with Open-RMF can be found here.

A number of commercial robots, infrastructure systems, workcells and devices have been integrated with Open-RMF and links to their adapters are available in the awesome_adapter repository

Help us add to this list!

A helpful starting point for integrating your fleet with RMF is the fleet_adapter_template package.