arjo129

repositories:
  demonstrations/rmf_demos:
    type: git
    url: git@github.com:open-rmf/rmf_demos.git
    version: arjo/throwaway/reservation_demo
  rmf/ament_cmake_catch2:
    type: git
    url: https://github.com/open-rmf/ament_cmake_catch2.git
    version: main
  rmf/rmf_api_msgs:

arjo129

FROM ubuntu:22.04

RUN locale  # check for UTF-8

RUN  apt update &&  apt install -y locales
RUN  locale-gen en_US en_US.UTF-8
RUN  update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
RUN export LANG=en_US.UTF-8
ENV  DEBIAN_FRONTEND=noninteractive

arjo129

Note: These instructions are set up for using Qemu/KVM. If you have virtualbox installed, you cannot have kvm installed at the same time. It's possible to run mininet via the

Step 1: Download QEMU/KVM

  sudo apt-get -y -qq install \
                   kvmtool cloud-utils genisoimage qemu-kvm qemu-utils \
                   moreutils mtools

arjo129

<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="center_of_volume">

    <physics name="fast" type="ignored">
      <real_time_factor>0</real_time_factor>
    </physics>
    <plugin
      filename="libignition-gazebo-physics-system.so"
      name="ignition::gazebo::systems::Physics">

arjo129

<sdf version="1.6">
  <world name="buoyancy">

    <physics name="1ms" type="ode">
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
    </physics>
    <plugin
      filename="ignition-gazebo-physics-system"
      name="ignition::gazebo::systems::Physics">

arjo129

repositories:
  rmf/rmf_battery:
    type: git
    url: git@github.com:open-rmf/rmf_battery.git
    version: main
  rmf/rmf_internal_msgs:
    type: git
    url: git@github.com:open-rmf/rmf_internal_msgs.git
    version: main
  rmf/rmf_ros2:

arjo129

#include <DynamixelWorkbench.h>

#if defined(__OPENCM904__)
  #define DEVICE_NAME "3" //Dynamixel on Serial3(USART3)  <-OpenCM 485EXP
#elif defined(__OPENCR__)
  #define DEVICE_NAME ""
#endif   

#define BAUDRATE  57600
#define DXL_ID    1

arjo129

#!/usr/bin/env python3

import rclpy
from rclpy.node import Node
from rclpy.duration import Duration
from rmf_fleet_msgs.msg import PathRequest, Location

rclpy.init(args=None)
node = Node("test_slotcar")

arjo129

<launch>
<node pkg="tf" type="static_transform_publisher" name="baselink2camera" args="0 0 1.2 0 0 0 1 base_link camera_link 100" />
<node pkg="tf" type="static_transform_publisher" name="baselink2gripper" args="0.5 0 0.6 0 0 0 1 base_link gripper 100" />
<node pkg="rostopic" type="rostopic" name="apple_detector" args="pub /camera/detector/apple geometry_msgs/PointStamped &quot;{header:
  {seq: 0,
  stamp: {
    secs: 0,
    nsecs: 0},
  frame_id: &apos;camera_link&apos;},
point:{

arjo129

#define MAX_CAPACITY 10000
#define MIN_BUFFER 1000
#define MAX_LINE 10
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <string.h>

long getRandomNumber(long max) {
    return random()%max;