RMF Setup

Install RMF from Source

Warning

If you have any prior RMF installation using Debian binaries (sudo apt install), please use the following command to remove them.

sudo apt purge ros-humble-rmf*

Install rosdep

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

sudo apt install python3-rosdep
sudo rosdep init
rosdep update

Download the source code

Create a colcon workspace.

export COLCON_WS=~/colcon_ws
mkdir -p $COLCON_WS/src
cd $COLCON_WS

Download the source code.

cd src
git clone https://github.com/ros-industrial/rmf_scheduler.git

In the workspace pull in additional RMF repositories using vcs:

vcs import . < rmf_scheduler/rmf.repos

Ensure all ROS 2 prerequisites are fulfilled.

source /opt/ros/humble/setup.bash
rosdep install --from-paths . --ignore-src --rosdistro "$ROS_DISTRO" -yr
sudo apt install clang lldb lld
sudo apt install python3-pip python3-setuptools python3-dev
python3 -m pip install -U \
   datamodel-code-generator \
   websockets \
   fastapi \
   flask-socketio \
   uvicorn

Setup colcon mixin.

sudo apt install python3-colcon-mixin
colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
colcon mixin update default

Build Instructions

On Ubuntu 22.04:

cd $COLCON_WS
source /opt/ros/humble/setup.bash
export CXX=clang++
export CC=clang
colcon build --mixn 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.