Getting started


Building rmf_core from source requires gcc version 8 or higher, or clang version 6 or higher.

mkdir ws_rmf/src -p
cd ws_rmf/src/
git clone
cd ../
source /opt/ros/eloquent/setup.bash
rosdep update
rosdep install --from-paths src --ignore-src -yr
colcon build --cmake-args -DCMAKE_BUILD_TYPE=RELEASE

To manually override the compiler version, prefix the colcon command with the CXX parameter.

sudo apt update && sudo apt install g++-8
CXX=g++-8 colcon build --cmake-args -DCMAKE_BUILD_TYPE=RELEASE


This repository holds a number of demonstrations and examples of working with rmf_core and the other packages in the RMF ecosystem.