how connect mir adapter to rmf-core rmf-web?

[techfoxgithub]

I have run the mir adapter according to its documentation, and use the traffic-editor generated map, but how to connect to rmf-web and rmf-core? my rmf-web could not get the robot map. How do I configure my launch file to remove the rviz and gazebo stuff , lanuch adapter and get the robot map? Is there any information on this? thank you.

[mxgrey]

how to connect to rmf-web

The version of this fleet adapter on the main branch of this repo seems to predate rmf-web so it doesn't have a builtin way to talk to rmf-web which uses websockets.

I'd suggest using the version of the fleet adapter in branch xiyu/efc_fleet_adapter_mir which is the branch that this PR is based on - with the caveat that the branch is a work in progress and subject to further changes before it gets merged into main. In that branch, the fleet adapter executable supports a server_uri ROS parameter, which works the same way as the rmf_demos_fleet_adapter so you can refer to the documentation there.

how to connect to ... rmf-core?

This will be done automatically, you just need to launch the "core" nodes, which usually include the schedule node, dispatcher node, building map server, and door+lift supervisors. You can refer to this launch file to see the commonly launched nodes.

How do I configure my launch file to remove the rviz and gazebo stuff

The launch files in rmf_demos are only meant for reference, so you may need to copy/paste and edit those files to fit your particular needs. I would discourage using any of the rmf_demos launch files directly for a deployment because it's possible that we'll add more nodes to those launch files in the future which you do not want to have launched in your deployment.