The A&E demonstration is to prioritise incoming casualties from disaster sites. The A&E ward consists of multiple robots such as MiR, Sesto, MissyBot, RoMiO Bot and the TrolleyBed(with Bolt-On Kit).
In typical A&E scenario, the robots will perform their task as per normal according to the task request. However, when the emergency button is activated, all the robots are to pause their assigned task and navigate to the nearest parking spot.
This simulation also shows double deconfliction between two robots and the incoming trolley bed from the ambulance. The first priority will always go to the trolley bed.
The robots are using the Full Control Fleet Adapter to navigate and accept loop requests while the trolley bed use Read-Only Fleet Adapter to reenact manual pushing.
Full Control Fleet Adapter:
- MiR Robot
- MissyBot
- RoMiO Bot
Traffic Light Control Fleet API:
- Sesto Magnus Robot
Manual Pushing:
- Trolley Bed(with Bolt-On Kit)
Refer to this link for System Requirement, Installation & Tutorials
- https://github.com/sharp-rmf/rmf_demos
- https://osrf.github.io/ros2multirobotbook/integration_fleets.html
