EM_fleetmanager

• Publishing of SwissCat+ laboratory map and QR Markers localization for mobile robots to localize itself, developed in Python and ROS 2 Humble, running inside Docker.
• Integrates with the EM_onrobot deployed on the mobile robot.

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Table of Contents

1. Overview
2. System Architecture
3. Deployment of a New Robot
4. Docker Installation (recommended)
5. How to Run
6. ROS 2 Interfaces
7. Project Structure
8. Improvements & Roadmap
9. License

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Overview

The EM_fleetmanager repository contains the software resources for deploying the laboratory maps, markers and managing the fleet of mobiles robots

Software

• Published the map of the track where mobile robots are moving in a png format that can be seen in rviz.
• Publishes the markers position in the map for the mobile robot to localize itsef in the map

Deployment

• Supports containerized deployment with Docker for easy setup and reproducibility.

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Versions & Software

• OS: Ubuntu 22.04
• ROS 2: Humble

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System Architecture

• Hardware

  • PC
  • Laboratory Track
  • Aruco Markers

• Software

  • ROS 2 packages (all inside Docker):
    • mob_rob_loca → publishes the map and markers
    • mob_rob_loca_msgs → service definitions

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Deployment

Networking

• Ensure PC and RPi are on the same network.
• For that, configure a static IP on the PC which should be the same as the one found in fastdds.xml (for example : 192.168.0.14)
• Match the ROS_DOMAIN_ID on both PC and RPi (default = 10):

  echo "export ROS_DOMAIN_ID=10" >> ~/.bashrc

  Or in the Dockerfile:

  ENV ROS_DOMAIN_ID=10

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Docker Installation (recommended)

2. Install Docker on the PC:

   sudo apt-get update
   sudo apt-get install ca-certificates curl gnupg
   sudo install -m 0755 -d /etc/apt/keyrings
   curl -fsSL https://download.docker.com/linux/debian/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
   sudo chmod a+r /etc/apt/keyrings/docker.gpg
   
   echo      "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/debian      $(. /etc/os-release && echo "$VERSION_CODENAME") stable" |      sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
   
   sudo apt-get update
   sudo apt-get install -y docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin
   sudo groupadd docker
   sudo gpasswd -a $USER docker
   newgrp docker
   docker run hello-world

3. Run the container:

   ./deploy.sh

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How to Run

Start the container:

./deploy.sh

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ROS 2 Interfaces

Topics

Topic	Type	Description
/map	nav_msgs/OccupancyGrid	Map image of the laboratory track
/marker_<num>	geometry_msgs/TransformStamped	Aruco Makers in the map

Parameters

Parameter	Type	Description
namespace	string	Namespace prefix for topics/nodes per robot
config_file	string	Path to camera calibration file (ArUco positions, intrinsics)

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Project Structure

EM_fleetmanager/
├── Dockerfile            # Build instructions for fleetmanager image
├── entrypoint.sh         # Container entrypoint script
├── fastdds.xml           # Fast DDS configuration
├── src/
│   ├── mob_rob_loca/         # Main fleetmanager package (map,markers)
│   ├── mob_rob_loca_srv/     # ROS 2 service definitions
├── pictures/logo.png
├── README.md
├── requirements.txt      # Requirements if trying to run locally
├── LICENSE               # MIT License
├── deploy.sh             # Launch the container

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Improvements & Roadmap

• Expand documentation with troubleshooting and advanced usage examples.

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License

This project is licensed under the MIT License.