door_adapter_template

The objective of this package is to serve as a reference or template for writing a python based RMF door adapter.

Note: This package is only one such example that may be helpful for users to quickly integrate door control with RMF.

Step 1: Fill up missing code

Simply fill up certain blocks of code which make REST API calls to IOT door. These blocks are highlighted as seen below and are found in DoorClientAPI.py

## IMPLEMENT YOUR CODE HERE ##

The bulk of the work is in populating the DoorClientAPI.py file which defines a wrapper for communicating with the fleet of interest.

For example, if door offers a REST API with a POST method to obtain the status of the door, then the DoorClientAPI::get_mode() function may be implemented as below

def get_mode(self):
    url = self.prefix + "/door/status" # example endpoint
    try:
        response = requests.post(url=self.url+"/door/status", headers=self.header, json=self.data, timeout=1.0) 
        if response:
            state = response.json().get("body").get("doorState")
            if state is None:
                return 4
            elif state == "closed":
                return 0
            elif state == "betweenOpenandClosed ":
                return 1
            elif state == "open":
                return 2
            elif state == "OFFLINE":
                return 3
        else:
            return 4
    except HTTPError as http_err:
        print(f"HTTP error: {http_err}")
    except Exception as err:
        print(f"Other error: {err}")
    return None

Alternatively, if your door offers a websocket port for communication or allows for messages to be exchanged over ROS1/2, then these functions can be implemented using those protocols respectively.

Note: you could refer to the example mock door_adapter in the door_adapter_template/example folder

Step 2: Update config.yaml

The config.yaml file contains important parameters for setting up the door adapter. There are three broad sections to this file:

1. name : the door name to display and called by RMF
2. api_endpoint : REST API endpoint to communicate to the door

Step 3: Run the door adapter:

Run the command below while passing the paths to the configuration file to operate on.

ros2 run door_adapter door_adapter -c CONFIG_FILE