Frequently Asked Questions¶
What is the difference between RoMi-H and rmf_core, in high level?¶
RoMi-H is an umbrella term for a wide range of open specifications and software tools that aim to ease the integration and interoperability of robotic systems, building infrastructure, smart medical devices, and user interfaces with a focus on the healthcare sector.
rmf_core is a collection of repositories and software libraries for an implementation of some of the core systems that compose RoMi-H.
Why is RoMi-H spread across multiple GitHub accounts and repositories?¶
The development of RoMi-H is a collaborative research and development effort. Several different organizations are involved in its development, and there is not yet a fixed protocol for where and how the constituent parts of RoMi-H will be deposited. The organization of these packages may converge as the project continues to progress.
In an actual deployment, is RoMi-H something that is deployed into a server or a robot?¶
RoMi-H is a collection of open specifications and software tools. Some of the specifications and software that falls under the RoMi-H umbrella might run on robots, but for the most part it will be used as an intermediary to communicate and negotiate between standalone systems. Since robots are usually deployed with their own proprietary fleet managers, in most cases we expect RoMi-H to communicate with a fleet manager instead of running directly on a robot. However users will be provided with RoMi-H software tools that can run directly on a robot to assist in cases where a robot platform does not come with its own fleet manager.
In short, some parts of RoMi-H may run on servers, some on desktops, some on mobile devices, and some on robot platforms.
Does RoMi-H support high availability (e.g failover cluster)? Can it be load-balanced?¶
The systems within RoMi-H are heterogeneous. Some systems are fully distributed, so there is no master that would be a failure point. Other systems do require certain centralized services, and those services are being designed to have failovers as well as ways to distribute their load, e.g. by using mirror servers.
Does RoMi-H run on ROS nodes?¶
Certain components in RoMi-H are being implemented using ROS2. For non-ROS2 systems, we are working on various options for bridging between different middlewares. Much of that effort is concentrated in the SOSS project.
What is SOSS?¶
Please refer to the SOSS GitHub page. SOSS is a plugin-based framework for performing simple translations between pub/sub middlewares. Since we expect RoMi-H to bridge many systems that are already running their own middlewares, we are providing SOSS as one option for integrating a middleware into RoMi-H.
Are there design guidelines for integrating with RoMi-H?¶
RoMi-H is still in research and development, moving towards production deployment, and many of the APIs and specifications are under active development. Design and integration guidelines will be coming out as the core APIs solidify.
If I want a CI/CD pipeline to build my custom RoMi-H components, is there already a template or docker image to help with this?¶
There is an ongoing effort to provide this, but it is not ready for public consumption yet.
Is RoMi-H production-ready?¶
RoMi-H is still in research and development, but we are aggressively moving towards deployability. We aim to have the APIs stable and key features implemented by mid-2020.
Is there python version of RoMi-H?¶
We intend to provide Python bindings for the core APIs of RoMi-H, especially for robot fleet management. This work has not yet begun, but it should be straightforward once the C++ APIs have stabilized.
Is RoMi-H constrained to a particular DDS?¶
Just like how ROS2 is not constrained to any particular DDS, neither is RoMi-H. The choice of which DDS implementation to use will be determined by the system integrators who deploy a RoMi-H system in a given facility.
How do we specify the map layouts of a building, and tie together multiple floors for that building?¶
Our tool for managing map layouts is available at here. Specifying multiple floors for a building is a feature that should be finished in the very near future.
How can we specify the schedule of a fleet?¶
The API for specifying robot traffic schedules is undergoing enormous changes right now. A preliminary version of it already exists, but I do not recommend familiarizing yourself with it, because it will be completely different very soon.
Which distribution of ROS2 is compatible with RoMi-H for production purpose?¶
Currently rmf_core requires ROS2 eloquent for certain launch file features. In general, we are likely to be using the latest release of ROS2 while doing research and development on RoMi-H.
How does rmf_traffic avoid mobile robot traffic conflicts?¶
When we are done implementing the traffic management solution, we will be doing a more extensive write-up on the conflict avoidance and negotiation methods than what can reasonably fit in an FAQ, but here is a quick outline of the methodology. There are two levels to traffic deconfliction: (1) prevention, and (2) resolution.
Prevention. Whenever possible, it would be good to prevent traffic conflicts from happening in the first place. To facilitate this, we have implemented a platform agnostic Traffic Schedule Database. The traffic schedule is a living database whose contents will change over time to reflect delays, cancelations, or route changes. All fleet managers that are integrated into RoMi-H must report the expected itineraries of their vehicles to the traffic schedule. With the information available on the schedule, compliant fleet managers can plan routes for their vehicles that avoid conflicts with any other vehicles (no matter which fleet they belong to). rmf_traffic provides a Planner class to help facilitate this for vehicles that behave like standard AGVs. In the future we intend to provide a similar utility for AMRs.
Resolution. It is not always possible to perfectly prevent traffic conflicts. Mobile robots may experience delays because of unanticipated obstacles in their environment, or the predicted schedule may be flawed for any number of reasons. In cases where a conflict does arise, rmf_traffic has a Negotiation scheme. When the Traffic Schedule Database detects an upcoming conflict between two or more schedule participants, it will send a conflict notice out to the relevant fleet managers, and a negotiation between the fleet managers will begin. Each fleet manager will submit its preferred itineraries, and each will respond with itineraries that can accommodate the others. A third-party judge (deployed by the system integrator) will choose the set of proposals that is considered preferable and notify the fleet managers about which itineraries they should follow.
Why is this traffic management system so complicated?¶
RoMi-H has a number of system design constraints that create unique challenges for traffic management. The core goal of RoMi-H is to facilitate system integration for heterogeneous mobile robot fleets that may be provided by different vendors and may have different technical capabilities.
Vendors tend to want to keep their computing systems independent from other vendors. Since vendors are often responsible for ensuring uptime and reliability on their computing infrastructure, they may view it as an unacceptable liability to share computing resources with another vendor. This means that the traffic management system must be able to function while being distributed across different machines on a network.
Different robot platforms may have different capabilities. Many valuable AGV platforms that are currently deployed are not able to change their itineraries dynamically. Some AGV platforms can change course when instructed to, as long as they stick to a predefined navigation graph. Some AMR platforms can dynamically navigate themselves around unanticipated obstacles in their environment. Since RoMi-H is meant to be an enabling technology, it is important that we design a system that can maximize the utility of all these different types of systems without placing detrimental constraints on any of them.
These considerations led to the current design of distributed conflict prevention and distributed schedule negotiation. There is plenty of space within the design to create simpler and more efficient subsets for categories of mobile robots that fit certain sets of requirements, but these optimizations can be added later, building on top of the existing completely generalized framework.