Setup rmf_demo_panel

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.

python3 -m pip install flask-socketio

Compilation

cd ~/rmf_demos_ws

# change the npm prefix according to the path to "rmf_demo_panel/static/"
npm install --prefix src/rmf/rmf_demos/rmf_demo_panel/rmf_demo_panel/static/
npm run build --prefix src/rmf/rmf_demos/rmf_demo_panel/rmf_demo_panel/static/

colcon build --packages-select rmf_demo_panel

Test Run with office world

1. Start Office World

ros2 launch demos office.launch.xml

Launch the dashboard

firefox localhost:5000

Open http://localhost:5000/ on browser.

Submit a list of tasks* On the right side column, users are able to select a file which consists of a list of
tasks. Example. for office world, load rmf_demos_tasks/rmf_demo_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, "description": {"num_loops":5, "start_name":"coe", "finish_name":"lounge"}}

For delivery requests:

{"task_type":"Delivery", "start_time":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_dashboard_resources/office/dashboard_config.json file.

For clean requests:

{"task_type":"Clean", "start_time":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.

There are 2 web-based server running behind the scene, namely:

1. gui_server (port 5000): Providing the static gui to the web client. Non RMF dependent
2. api_server (port 8080): Hosting all endpoints for gui clients to interact with RMF

To create your own customize GUI, you will only require to create your own CUSTOM_gui_server and interact with the existing api_server.

• Edit the dashboard_config.json to configure the input of the Demo World GUI Task Submission. The dashboard config file is located here: rmf_dashboard_resources/$WORLD/dashboard_config.json.
• server ip is configurable via WEB_SERVER_IP_ADDRESS in the dashboard.launch.xml
• The 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.