This repository features various simulation-driven ROS 2 projects created for the course IR2134 - Cooperative Robots, part of the Bachelor’s Degree in Robotic Intelligence at Universitat Jaume I. These projects demonstrate the use of Open-RMF (Robot Middleware Framework) to orchestrate and manage fleets of autonomous mobile robots operating in intricate, multi-level indoor environments.
The work explores practical aspects of multi-robot collaboration, including autonomous navigation, coordinated fleet management, task scheduling, and interaction with environmental elements such as doors, elevators, and designated cleaning areas. Furthermore, the robots are designed to detect and maneuver around a variety of obstacles and furnishings, enhancing their ability to operate safely in cluttered spaces.
🏛️ RMF Library Project (UJI Library Simulation)
- Simulates the Library building at UJI across seven floors
- Features two fleets:
TinyRobotandCleanerRobotA - Includes lifts, doors, and zone-based task assignment
- Demonstrates multi-floor patrols and cleaning missions with animated task results (GIFs)
- Includes multiple simulated environments (
conference room,test1, andtd) - Integrates Open-RMF with custom maps featuring lifts and doors
- Simulates robot fleets navigating and performing tasks in multi-floor layouts
- Supports patrol and cleaning task execution, as well as RMF Web Dashboard integration
- Coordination between multiple robot fleets and dynamic task allocation through Open-RMF
- Simulation of intricate indoor spaces with realistic movement and access limitations
- Deployment of cleaning and patrolling missions triggered via command-line tools or a web-based interface
- Integration of ROS 2 Jazzy, Gazebo Harmonic, and containerized RMF setups for streamlined development and testing
- Design and implementation of ROS 2 launch configurations integrated with simulation environments
- Construction of maps featuring elements such as elevators, doors, defined zones, and cross-floor navigation
- Containerized development leveraging Rocker and pre-built RMF demo environments
- Interaction with RMF systems via the Web Dashboard and task management API
- Team-based workflow using sparse Git checkouts and modular ROS 2 package structures
Course: IR2134 - Cooperative Robots
Instructor: Enric Cervera Mateu
Year: 4th year
Topics Covered:
- Distributed multi-robot systems
- Cooperative navigation and task planning
- ROS 2 middleware and simulation tools
- Fleet coordination and real-time control systems
Feel free to explore each folder for more detailed usage instructions, launch examples, and demo media!