Autonomous Mobile Robots 

AMR

System Architecture 

AMR System Architecture

Below are relevant packages of the system:

Global Planner (ddg_multi_robot_planner): Conflict-Based-Search (CBS) based ROS2 planner. It uses CBSH2-RTC mapf planner developed by Prof. Jiaoyang Li
Mission Control (robot_mission_control): It launches a node to handle multiple AMRs and their higher-level commands
Motion Servers (robot_motion_server): ROS2 action servers and client onboard robot to give navigation commands. There is a node for both navigation and docking/undocking
Low Level Packages (neo_*): These packages are originally provided by the manufacturer, Neobotix, and handle local navigation, localization and motion.

Simulation Environment 

<TODO: insert simulation video/gif>

<TODO: describe packages to use for the simulation>

Integration with MES 

The amr_fleet_offboard_infra_backend package receives the web request for the AMRs, and then communicates it over the ROS2 network.
The offboard_comms package handles the translated web request and sends it over to the mission control
The amr_fleet_offboard_infra_frontend is an alternative to MES sending web request for a task for the AMRs.

Other Resources 

https://mrsd-project.herokuapp.com/ https://mrsdprojects.ri.cmu.edu/2023teamh/