Update galactic branch

.github/workflows/nightly.yaml

@@ -1,5 +1,5 @@
 name: nightly
-on: 
+on:
   push:
   pull_request:
   schedule:
@@ -8,17 +8,25 @@ on:
 jobs:
   build_and_test:
     name: Nightly build and test
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-focal-latest
     steps:
       - name: deps
-        uses: ros-tooling/setup-ros@v0.2
+        uses: ros-tooling/setup-ros@v0.4
         with:
           required-ros-distributions: galactic
+      - name: install_clang
+        run: sudo apt update && sudo apt install -y clang clang-tools lld
+      - name: fix cryptography==2.8 # https://github.com/open-rmf/rmf/pull/202#pullrequestreview-1100045417
+        run: pip3 install cryptography==2.8
       - uses: actions/checkout@v2
       - name: build_and_test
         uses: ros-tooling/action-ros-ci@v0.2
         env:
           QT_QPA_PLATFORM: offscreen
+          CC: clang
+          CXX: clang++
         with:
           target-ros2-distro: galactic
           # build all packages listed in the meta package
@@ -27,8 +35,7 @@ jobs:
             rmf_traffic
             rmf_task
             rmf_battery
-            rmf_fleet_adapter
-            rmf_fleet_adapter_python
+            rmf_fleet_adapter 
             rmf_task_ros2
             rmf_traffic_ros2
             rmf_visualization
@@ -59,7 +66,7 @@ jobs:
           colcon-defaults: |
             {
               "build": {
-                "mixin": ["coverage-gcc"]
+                "mixin": ["coverage-gcc", "lld"]
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml

Dockerfile

@@ -14,7 +14,7 @@ RUN apt-get update \
     qt5-default \
     wget \
     python3-pip \
-  && pip3 install flask-socketio \
+  && pip3 install flask-socketio fastapi uvicorn \
   && rm -rf /var/lib/apt/lists/*
 
 # setup keys

README.md

@@ -8,43 +8,19 @@
 The OpenRMF platform for multi-fleet robot management.
 
 ---
-## Install ROS 2 Galactic
 
-First, please follow the installation instructions for ROS 2 Galactic.
-If you are on an Ubuntu 20.04 LTS machine (as recommended), [here is the binary install page for ROS 2 Galactic on Ubuntu 20.04](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html).
+For specific rmf versions follow the instructions given below:
 
-## Setup Gazebo repositories
+## Installation Instructions
 
-Setup your computer to accept Gazebo packages from packages.osrfoundation.org.
+These are the current Open-RMF binary releases available:
 
-```bash
-sudo apt update
-sudo apt install -y wget
-sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
-wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
-```
-
-## Binary install
-
-OpenRMF binary packages are available for Ubuntu Focal 20.04 for the `Foxy`, `Galactic` and `Rolling` releases of ROS 2. Most OpenRMF packages have the prefix `rmf` on their name, therefore, you can find them by them by searching for the pattern `ros-<ro2distro>-rmf`, e.g., for galatic it would be:
-
-```bash
-apt-cache search ros-galactic-rmf
-```
-
-### RMF Demos
-
-A good way to install the `rmf` set of packages in one go is to install the one of the main [RMF Demos](https://github.com/open-rmf/rmf_demos) packages. This will pull all the rest of the OpenRMF packages as a dependency. The core of RMF demos is contained on the `rmf_demos` package. However, if you want to install it with simulation support, you should install the `rmf_demos_gz` or `rmf_demos_ign` package which come with gazebo or ignition support respectively. As an example, to install the ROS 2 Galactic release with gazebo support package, you would run:
-
-```bash
-sudo apt install ros-galactic-rmf-demos-gz
-```
+| RMF Version | Installation Instructions                                                        | Supported distros                                   | Supported ROS2 versions |
+| ----------- | -------------------------------------------------------------------------------- | --------------------------------------------------- | ----------------------- |
+| 21.09       |  [Installation instructions](https://github.com/open-rmf/rmf/tree/release/21.09) | Ubuntu 20.04, Ubuntu 21.09, RHEL 8 (deployment only) | Foxy, Galactic           |
 
 ## Building from sources
 
-If you want to get the latest developments you might want to install from sources and compile OpenRMF yourself.
-
-
 ### Additional Dependencies
 
 Install all non-ROS dependencies of OpenRMF packages,
@@ -54,7 +30,7 @@ sudo apt update && sudo apt install \
   git cmake python3-vcstool curl \
   qt5-default \
   -y
-python3 -m pip install flask-socketio
+python3 -m pip install flask-socketio fastapi uvicorn
 sudo apt-get install python3-colcon*
 ```
 
@@ -69,6 +45,7 @@ rosdep update
 ```
 
 ### Download the source code
+
 Setup a new ROS 2 workspace and pull in the demo repositories using `vcs`,
 
 ```bash
@@ -79,7 +56,13 @@ vcs import src < rmf.repos
 ```
 
 Ensure all ROS 2 prerequisites are fulfilled,
-```
+
+you can subsutitute your distro name for `<your ros distro>`
+
+Example:
+for `galactic`
+
+```bash
 cd ~/rmf_ws
 rosdep install --from-paths src --ignore-src --rosdistro galactic -y
 ```
@@ -92,17 +75,12 @@ Compiling on `Ubuntu 20.04`:
 
 ```bash
 cd ~/rmf_ws
-source /opt/ros/galactic/setup.bash
+source /opt/ros/<your ros distro>/setup.bash
 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
 ```
 
 > NOTE: The first time the build occurs, many simulation models will be downloaded from Ignition Fuel to populate the scene when the simulation is run.
-As a result, the first build can take a very long time depending on the server load and your Internet connection (for example, 60 minutes).
-
-## Run RMF Demos
-
-Demonstrations of OpenRMF are shown in [rmf_demos](https://github.com/open-rmf/rmf_demos/).
-
+> As a result, the first build can take a very long time depending on the server load and your Internet connection (for example, 60 minutes).
 ### Docker Containers
 Alternatively, you can run RMF Demos by using [docker](https://docs.docker.com/engine/install/ubuntu/).
 
@@ -123,6 +101,10 @@ This will run `rmf_demos` in headless mode. Open [this link](https://open-rmf.gi
 
 (Experimental) User can also run `rmf_demos` in “non-headless” graphical form, via [rocker](https://github.com/osrf/rocker).
 
+## Run RMF Demos
+
+Demonstrations of OpenRMF are shown in [rmf_demos](https://github.com/open-rmf/rmf_demos/).
+
 ## Roadmap
 
 A near-term roadmap of the entire OpenRMF project (including and beyond `rmf_traffic`) can be found in the user manual [here](https://osrf.github.io/ros2multirobotbook/roadmap.html).

rmf.repos

@@ -2,59 +2,59 @@ repositories:
   rmf/rmf_battery:
     type: git
     url: https://github.com/open-rmf/rmf_battery.git
-    version: main
+    version: galactic-devel
   rmf/rmf_internal_msgs:
     type: git
     url: https://github.com/open-rmf/rmf_internal_msgs.git
-    version: main
+    version: galactic-devel
   rmf/rmf_api_msgs:
     type: git
     url: https://github.com/open-rmf/rmf_api_msgs.git
-    version: main
+    version: galactic-devel
   rmf/rmf_ros2:
     type: git
     url: https://github.com/open-rmf/rmf_ros2.git
-    version: main
+    version: galactic-devel
   rmf/rmf_task:
     type: git
     url: https://github.com/open-rmf/rmf_task.git
-    version: main
+    version: galactic-devel
   rmf/rmf_traffic:
     type: git
     url: https://github.com/open-rmf/rmf_traffic.git
-    version: main
+    version: galactic-devel
   rmf/rmf_utils:
     type: git
     url: https://github.com/open-rmf/rmf_utils.git
-    version: main
+    version: galactic-devel
   rmf/ament_cmake_catch2:
     type: git
     url: https://github.com/open-rmf/ament_cmake_catch2.git
-    version: main
+    version: galactic-devel
   rmf/rmf_visualization:
     type: git
     url: https://github.com/open-rmf/rmf_visualization.git
-    version: main
+    version: galactic-devel
   rmf/rmf_visualization_msgs:
     type: git
     url: https://github.com/open-rmf/rmf_visualization_msgs.git
-    version: main
+    version: galactic-devel
   rmf/rmf_building_map_msgs:
     type: git
     url: https://github.com/open-rmf/rmf_building_map_msgs.git
-    version: main
+    version: galactic-devel
   rmf/rmf_simulation:
     type: git
     url: https://github.com/open-rmf/rmf_simulation.git
-    version: main
+    version: galactic-devel
   rmf/rmf_traffic_editor:
     type: git
     url: https://github.com/open-rmf/rmf_traffic_editor.git
-    version: main
+    version: galactic-devel
   demonstrations/rmf_demos:
     type: git
     url: https://github.com/open-rmf/rmf_demos.git
-    version: main
+    version: galactic-devel
   thirdparty/menge_vendor:
     type: git
     url: https://github.com/open-rmf/menge_vendor.git