From 0f170313975f02707deb0b9496aba354a1f13823 Mon Sep 17 00:00:00 2001 From: h-wata Date: Mon, 10 Jun 2024 18:56:49 +0900 Subject: [PATCH 1/2] Update README.md --- README.md | 28 ++++++++++++++++++++++++++++ 1 file changed, 28 insertions(+) diff --git a/README.md b/README.md index 116957c..bac4bf9 100644 --- a/README.md +++ b/README.md @@ -16,6 +16,22 @@ This repository contains the source code for the Kachaka API server and Zenoh no +## 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 ```bash @@ -99,6 +115,18 @@ To send commands to the robot via Zenoh, publish a JSON-formatted message to the } ``` +#### 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: + + ```yaml + 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](LICENSE) file for more details. From e934e6197130b9efbbe2b39813d9cf935634fa71 Mon Sep 17 00:00:00 2001 From: h-wata Date: Wed, 12 Jun 2024 15:37:09 +0900 Subject: [PATCH 2/2] Update README.md --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index bac4bf9..217d73b 100644 --- a/README.md +++ b/README.md @@ -20,13 +20,13 @@ This repository contains the source code for the Kachaka API server and Zenoh no This repository includes two main scripts for different use cases: -1. rest_kachaka_api.py: +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: +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.