l4ms/opil.sw.tp.mtp

镜像概述

该镜像属于OPIL（物流创新开放平台）软件系统层的任务规划器（Task Planner）子模块，专注于运动任务规划（MTP）。OPIL软件系统层包含三个核心模块，任务规划器负责协调组件通信，构建制造环境下的完整物流系统。MTP子模块为机器人代理生成无死锁、最优路径并处理通信；任务监督器（TS）子模块接收任务、分配订单及反馈状态。

核心功能

1. 运动任务规划（MTP）：
   • 接收机器人/人类代理的起点终点，计算无死锁、无碰撞的最优路径；
   • 处理与机器人代理节点（RAN）的通信，感知代理当前姿态与任务状态；
   • 支持与其他OPIL组件协作，实现物流系统的完整运作。
2. 任务监督器（TS）：
   • 从HMI模块接收任务规范，向可用机器人分配运输订单；
   • 向HMI反馈系统状态，处理系统内的变更事件。

使用场景

适用于制造环境中的智能物流系统，用于机器人代理的任务调度、运动路径规划及状态管理，支持多组件协作以提升物流效率。

配置说明

Docker部署示例（docker-compose.yml）

yml
services: 
  opil.mod.sw.tp.ts:
    image: "docker.xuanyuan.run/l4ms/opil.sw.tp.ts:latest"
    depends_on: 
      - opil.mod.sw.tp.mtp
    environment: 
      - PYTHONUNBUFFERED=1
      - "ROS_MASTER_URI=http://opil.mod.sw.tp.mtp:11311"
    volumes:
      - ./ts_fiware_config.ini:/catkin_ws/src/tasksupervisor/fiware_config.ini 
    ports: 
      - "2906:2906" 

  opil.mod.sw.tp.mtp: 
    image: "docker.xuanyuan.run/l4ms/opil.sw.tp.mtp:latest"
    environment: 
      - "ROS_MASTER_URI=http://localhost:11311"
      - DISPLAY=$DISPLAY
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ./mod_sw_tp.launch:/catkin_ws/src/mod_sw_tp/launch/mod_sw_tp.launch 
      - ./firos_robots.json:/catkin_ws/src/firos/config/robots.json
      - ./firos_whitelist.json:/catkin_ws/src/firos/config/whitelist.json
      - ./firos_config.json:/catkin_ws/src/firos/config/config.json
    ports: 
      - "11311:11311"
      - "39001:39001"
            
version: "3.5"

前置配置文件创建

在docker-compose.yml目录下执行：

bash
touch firos_config.json firos_robots.json firos_whitelist.json mod_sw_tp.launch ts_fiware_config.ini

启动命令

1. Linux/macOS允许本地显示：

bash
xhost local:root

2. 启动容器：

bash
docker-compose up

（Windows直接执行docker-compose up，无可视化但可通过浏览器查看订阅）

Firos配置

firos_config.json（连接配置）

json
{
  "environment": "docker",
  "docker": {
    "server": {"port":10102},
    "contextbroker": {"address":"<orion address>","port":1026,"subscription":{"throttling":0,"subscription_length":300,"subscription_refresh_delay":0.5}},
    "endpoint": {"address":"<local network address>","port":39001},
    "log_level":"INFO"
  }
}

firos_robots.json（主题订阅）

json
{
    "map":{"topics":{"graph":{"msg":"maptogridmap.msg.Graph","type":"publisher"}}},
    "robot_opil_v2":{"topics":{
        "current_motion":{"msg":"mars_agent_physical_robot_msgs.msg.Motion","type":"publisher"},
        "robot_description":{"msg":"mars_agent_physical_robot_msgs.msg.RobotAgentProperties","type":"publisher"},
        "cancel_order":{"msg":"mars_agent_physical_robot_msgs.msg.CancelTask","type":"subscriber"},
        "motion_assignment":{"msg":"mars_agent_physical_robot_msgs.msg.MotionAssignment","type":"subscriber"},
        "action_assignment":{"msg":"mars_agent_physical_robot_msgs.msg.ActionAssignment","type":"subscriber"}
    }}
}

firos_whitelist.json（白名单）

json
{
    "map":{"publisher":["graph"],"subscriber":[]},
    "robot_opil_v2":{"publisher":["current_motion","robot_description"],"subscriber":["cancel_order","motion_assignment","action_assignment"]}
}

MTP配置（mod_sw_tp.launch）

xml
<launch>
  <node pkg="tf2_ros" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 0 0 0 1 world map" />
  <include file="$(find mars_yellow_pages)/launch/mars_yellow_pages.launch" />
  <include file="$(find mars_topology_launcher)/launch/mars_topology_launcher_generic.launch">
    <arg name="log_level" value="info" />
    <arg name="topo_file_type" value="opil_sp" />
    <arg name="mars_vertex_footprint_radius" value="0.95" />
    <arg name="topology_launch_mode" default="container"/>
  </include>
  <include file="$(find mars_routing_base)/launch/mars_routing_base.launch" />
  <include file="$(find mars_agent_logical_agv)/launch/mars_agent_logical_agv.launch">
    <arg name="robot_name" value="robot_opil_v2" />
    <arg name="physical_agent_id" value="00000000-0000-0000-0000-000000000001" />
    <arg name="physical_agent_description" value="robot_0" />
    <arg name="current_topology_entity_id" value="e53201ce-c3e3-53ed-b3df-daf27fcbb8e9" />
    <arg name="parking_spot_entity_id" default="e53201ce-c3e3-53ed-b3df-daf27fcbb8e9" />
    <arg name="parking_spot_entity_type" default="10" />
    <arg name="parking_allowed" default="true" />
    <arg name="node_name" value="ran_00000000000000000000000000000001" />
    <arg name="physical_robot_namespace" value=""/>
  </include>
  <node name="firos" pkg="firos" type="core.py"/>
  <node type="rviz" name="rviz" pkg="rviz" args="-d $(find mod_sw_tp)/rviz/config.rviz" />
</launch>

TS配置（ts_fiware_config.ini）

ini
[taskplanner] 
host = 192.168.0.32 
PORT = 2906 

[contextbroker]
host=192.168.0.32
port=1026

[robots]
ids = ran_00000000000000000000000000000001
types = SmallLoadCarrier
names = MSM_Sim