README.md

orio_free_fleet

Demo of ORIO, free fleet and a physical robot.

Compiling Instructions

cd ~/orio/orio_free_fleet
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

Change the gazebo plugins.

# Change door plugin
cd ~/orio_free_fleet/build/orio_magni_worlds/maps/office_door
sed -i 's/libdoor.so/liborio_door.so/' office_door.world

# Change lift plugin
cd ~/orio_free_fleet/build/orio_magni_worlds/maps/office_lift
sed -i 's/liblift.so/liborio_lift.so/' office_lift.world

cd ~/orio_free_fleet
colcon build
source install/setup.bash

Align the coordinate frames

Authentication

The PLC endpoint is secured by a username and password, which is passed into the launch file of each world here:

<param from="$(find-pkg-share orio_magni_worlds)/worlds/$(var world_name)/credentials/http_auth.yaml"/>

Create the yaml file with the following format

<put manager node name here>:
  ros__parameters:
    username: "xxx"
    password: "xxx"

Running demos - Door

Make sure there is a connection to the Orio PLC first.

# Run free_fleet server
ros2 launch orio_magni_ff_server free_fleet_server.launch.xml

# run simulation
ros2 launch orio_magni_worlds office_door.launch.xml 

ros2 launch orio_magni_worlds test_office_door_simple_loop.launch.xml start_point:=1_d end_point:=1_a

There are 4 points from 1_a to 1_d.

Running demos - Lift

Make sure there is a connection to the Orio PLC first. And make sure it is at either L1 or L2.

ros2 launch orio_magni_ff_server free_fleet_server.launch.xml

# run simulation
ros2 launch orio_magni_worlds office_lift.launch.xml 

ros2 launch orio_magni_worlds test_office_lift_simple_loop.launch.xml start_point:=1_a end_point:=2_c