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Hi @webvenky and @stevemacenski,

To augment @aaronchongth 's response, I've added a section to the rmf_demos FAQ page which may be helpful in answering how you can integrate robots running navstacks (in simulation & real world) with RMF.

TLDR;

  • RMF generates plans for robots while avoiding other brands of robots also operating in the same space.
  • The output of these plans will need to be fed into the robot's navstack or via an API provided by the vendor to get the robot to travel through the waypoints in the plan (The navstack may generate intermediate waypoints to avoid sensor-detected obstacles). The slotcar plugin is only for simulation efficiency.
  • Robots running navstacks can be integrated with RMF in simulation and real world. Packages such as nav2_waypoint_follower compliment this objective.