open-rmf/rmf

Root repository for the RMF software

What it solves

Open-RMF provides a standardized platform for managing multiple fleets of robots from different vendors, allowing them to coexist and operate within the same environment without conflict.

How it works

It acts as a middleware framework that integrates with various robot fleets through adapters. It supports integration with commercial robots and infrastructure systems, and provides templates (like the fleet_adapter_template) and tools (like free_fleet) to help developers connect robots that use ROS navigation endpoints to the broader management system.

Who it’s for

It is designed for developers and operators who need to coordinate multiple robot fleets in a shared space, particularly those using ROS 2 (Robot Operating System).

Highlights

  • Multi-fleet management: Coordinates robots from different manufacturers.
  • ROS 2 Integration: Deeply integrated with ROS 2 distributions including Humble, Jazzy, Kilted, and Rolling.
  • Extensible Architecture: Uses adapters to connect diverse hardware and infrastructure.
  • Simulation Support: Includes a suite of demonstrations (rmf_demos) to test configurations in simulation.

Related

  • Project
    open-rmf/rmf_demos

    A collection of simulation environments and demonstrations for Open-RMF, enabling interoperability and traffic management among diverse robot fleets in complex facilities.

  • Project
    ros-controls/ros2_control

    A framework for controlling robots within the ROS 2 ecosystem, providing a standardized way to manage robot hardware and control loops.

  • Project
    aerostack2/aerostack2

    A ROS 2 framework for creating autonomous multi-aerial-robot systems with a focus on modularity and swarm capabilities.

  • Project
    ros2/ros2

    The Robot Operating System (ROS) is an open-source set of software libraries and tools designed to help developers build robot applications.

  • Project
    openTCS/opentcs

    openTCS is an open-source framework for controlling fleets of automated guided vehicles and mobile robots, providing core algorithms for routing, dispatching, and scheduling.