Building and testing

Dependencies

Open-RMF is released into Humble in full, so this is binaries rather than a source build of rmf_ros2. websocketpp and boost::system are for WebsocketFeed.

sudo apt install ros-humble-rmf-dev libwebsocketpp-dev libboost-system-dev
colcon build

eplansys_rmf_bridge looks for plansys2 with QUIET and builds its library without it, so the RMF half compiles and its tests run on a machine that has Open-RMF and no eplansys. The performers need both. rmf_demos is not released into Humble and has to be built from source for the demo; its humble branch is the one to use.

Node parameters

Parameter	Default	Meaning
`task_map`	`""`	Path to the task map JSON.
`websocket_port`	`7879`	Port the fleet adapter is told to dial.
`outcome_prefix`	`eplansys.outcome=`	Marks a detail or log value as an epistemic outcome.
`task_timeout`	`120.0`	Seconds before a submitted task is given up on.

Task phases

RmfTaskClient::status reports one of five phases against the request id returned by submission. The RMF task id is not known until the response arrives, which is why the request id is the handle.

Phase	Meaning
`Pending`	Submitted, no `ApiResponse` yet.
`Rejected`	RMF refused it; the reason is in `error`.
`Running`	Accepted and under way.
`Succeeded`	Reached `completed`.
`Failed`	Reached failed, canceled or killed.

Submission is deferred until the robot appears. A performer can be dispatched its first action within a second of the process starting, well before the fleet adapter is up, and a robot_task_request published then is simply lost: only the named robot’s own TaskManager handles one, the dispatcher ignores it, and no error is raised anywhere. The request therefore waits until that robot has announced itself on fleet_states, which is the earliest point at which its adapter is known to be running and discovered.

Tests

The unit tests cover the task map. The websocket is covered by a smoke test that drives state_probe the way a fleet adapter does and checks that an outcome token comes back out, including the bare Hello frame that used to take the process down.

colcon test --packages-select eplansys_rmf_bridge
colcon test-result --verbose
source install/setup.bash
.github/workflows/smoke_test.sh

Code style

The tree follows the ament default that ament_uncrustify enforces: K&R bracing and const auto & x spacing. Open-RMF itself is written in Allman style, so code adapted from rmf_ros2 will not match and CI will reject it. Copyright notices go in // line comments; ament_copyright does not recognise the block form and reports the file as having no notice at all.

ament_uncrustify eplansys_rmf_bridge eplansys_rmf_probe
ament_copyright eplansys_rmf_bridge eplansys_rmf_probe

--reformat fixes the first in place. CI runs both, plus the build, the unit tests and the smoke test, against ros:humble-ros-base-jammy. eplansys is deliberately absent from that image, so what CI exercises is the whole RMF half and none of the performers.