open-rmf/rmf_demos

What it solves

It provides a set of practical demonstrations and simulation environments to help users integrate and test the Open Robotics Middleware Framework (Open-RMF). It solves the challenge of coordinating heterogeneous robot fleets—robots from different manufacturers with different capabilities—so they can share space, use building infrastructure like lifts and doors, and avoid traffic conflicts in complex facilities.

How it works

The project uses a combination of ROS 2 and Gazebo to simulate various real-world environments. It implements fleet adapters that translate high-level RMF commands into robot-specific actions. The system manages traffic via a bidding process where a dispatcher node sends task notices to fleet adapters, which then bid on tasks based on cost and capability. It also includes a web-based dashboard for monitoring robot states and initiating tasks.

Who it’s for

It is designed for robotics engineers and developers who are implementing Open-RMF in real-world facilities such as hotels, airports, clinics, and warehouses, as well as those looking for a starting point to integrate their own robot fleets into the framework.

Highlights

• Diverse Simulation Worlds: Includes pre-built environments for hotels, offices, airport terminals, clinics, campuses, and manufacturing plants.
• Infrastructure Integration: Demonstrates how robots interact with elevators (lifts), automatic doors, and charging stations.
• Multi-Fleet Coordination: Shows how robots from different fleets can de-conflict traffic lanes and share resources.
• Task Management: Supports various task types including delivery, patrolling (loop), and cleaning.
• Web Dashboard: Provides a frontend for real-time monitoring and task dispatching via an API server.