Validation using rmf_demos

[mb0514]

Hello!

Have you tried to validate your vda5050_fleet_adapter on a rmf_demos?

[mrceki]

Hi @mb0514 !
It's been a year, but as I remember, I used this VDA5050 connector to test the fleet adapter: https://github.com/inorbit-ai/ros_amr_interop.git. Keep in mind that this fleet adapter is experimental. If you plan to use it on a real system, you must test the system and likely make some adjustments.

[mb0514]

Thank you for your kind response.

I plan to develop a ros2 node that act like a "bridge" between what is published by your vda5050_fleet_adapter and the slotcar Gazebo plugin (the plugin that implements the navigation stack of the demos) in order to keep the overall architecture of the rmf_demos. This ros2 node should resemble the fleet_manager used in the demos. I don't know if this could be the right way to incorporate your vda5050_fleet_adapter on the rmf_demos. If you have any advice about this procedure, please let me known.

Thank you again

[mrceki]

The bridge you're talking about was implemented in the repo I mentioned (not for slotcar). I think you just need to modify the state and command interfaces to make it suitable for the slotcar plugin. Please refer to https://github.com/inorbit-ai/ros_amr_interop/tree/humble-devel/vda5050_connector and https://github.com/inorbit-ai/vda5050_adapter_examples.git