Kachaka API for Open RMF

Brief Description

This repository contains the source code for the Kachaka API server and Zenoh node script for integrating Kachaka robots with Open RMF. The Kachaka API server provides a REST API for interacting with the Kachaka API using HTTP requests. The Zenoh node script connects Kachaka robots to a Zenoh managed network, enabling communication between the robots and the Open RMF system.

Features

• REST API server for interacting with the Kachaka API using HTTP requests
• Zenoh node script for connecting Kachaka robots to a certain Zenoh managed network
  • Publishing robot pose, current map name, and command state as Zenoh topics
  • Subscription to command topic for receiving and executing robot commands
• Setup script for launching Kachaka REST API server and Zenoh node on the target device
• Local development environment for testing components on a local machine

Usage of Scripts

This repository includes two main scripts for different use cases:

1. rest_kachaka_api.py

• Use this script when communicating with an Open-RMF server within the same network without NAT (Network Address Translation) traversal.
• This script uses fleet_adapter_kachaka as the fleet adapter.
• It leverages FastAPI to expose the required topics for the fleet adapter.

1. connect_openrmf_by_zenoh.py:

• Use this script when communicating with an Open-RMF server via Zenoh router, requiring NAT traversal.
• It uses a common adapter that sends and receives Zenoh topics as the fleet adapter. Choose the appropriate script based on your network setup and communication requirements.

Cloning the repository

git clone https://github.com/sbgisen/kachaka-api-for-openrmf.git
cd kachaka-api-for-openrmf

Setup Kachaka internal components

Make sure to enable SSH login from your local environment to the target Kachaka device following these steps.

Run the following script to make the server launch during starting up the target device. Follow the prompt to configure Zenoh settings if using Zenoh framework.

export KACHAKA_IP=<ip_address_of_the_target_device>  # 192.168.128.30
./kachaka_server_setup.sh $KACHAKA_IP

After rebooting the device, you shall get a response by running commands such as the following.

curl http://$KACHAKA_IP:26502/kachaka/get_robot_pose
# {"get_robot_pose":{"x":-0.27050725751488025,"y":0.06214801113488019,"theta":0.09612629786430153}}
curl http://$KACHAKA_IP:26502/kachaka/get_map_list
# {"get_map_list":[{"name":"1F","id":"XXX"},{"name":"2F","id":"YYY"}]}

Local development

Instructions for setting up a local development environment for testing the server.

Common setup

Run the following lines to setup a pipenv environment for testing the server locally.

cd setup_local
./setup_local.sh  # Old pipenv settings will be removed every time this script is run.

Pipenv settings will be located at ~/kachaka_ws.

Launching the REST API server

Run the following lines to launch the REST API server.

cd ~/kachaka_ws
export KACHAKA_ACCESS_POINT=$KACHAKA_IP:26400
PYTHONPATH="/path/to/kachaka-api-for-openrmf/scripts:$PYTHONPATH" pipenv run uvicorn rest_kachaka_api:app --host 0.0.0.0 --port 26502

The server will start running on http://localhost:26502. You can then send HTTP requests to interact with the Kachaka API.

Example requests:

• GET /kachaka/front_camera_image.jpeg: Get the latest front camera image.
• GET /kachaka/get_robot_pose: Get the current robot pose.
• POST /kachaka/move_to_location {"target_location_id": "location1"}: Move the robot to a specific location.

Launching Zenoh node script

Run the following lines to launch the Zenoh node for Kachaka.

cd ~/kachaka_ws
export KACHAKA_ACCESS_POINT=$KACHAKA_IP:26400
export ZENOH_ROUTER_ACCESS_POINT=<access_point_of_the_zenoh_router>  # e.g. 192.168.1.1:7447
pipenv run python /path/to/kachaka-api-for-openrmf/scripts/connect_openrmf_by_zenoh.py

To send commands to the robot via Zenoh, publish a JSON-formatted message to the kachaka/<robot_name>/command topic with the following structure:

{
  "method": "<method_name>",
  "args": {
    "arg1": "value1",
    "arg2": "value2"
  }
}

Configuration

• The script reads the configuration from config.yaml to map the method names received from Open-RMF to the corresponding Kachaka API method names. For example, if config.yaml contains:

  method_mapping:
    dock: return_home

  The script will map the dock method from Open-RMF to the return_home method of the Kachaka API. Please make sure to provide the necessary configuration, including the method_mapping, in the config.yaml file before running the connect_openrmf_by_zenoh.py script.

License

This project is licensed under the Apache License 2.0. See the LICENSE file for more details.

Acknowledgements

We would like to express our gratitude to the Open RMF community for their valuable contributions and support in making this integration possible.