ROS 2 Bridge and Open-RMF

PyBulletFleet provides a ROS 2 Jazzy bridge for external tools and an Open-RMF adapter for fleet-management scenarios. These are optional integrations: the Python simulation core remains usable without ROS 2.

This section is for users integrating a simulator with ROS applications, RMF, or fleet-management tools. Framework extension contracts belong in the architecture section.

• Run Your First ROS 2 Bridge
  • 1. Install PyBulletFleet
  • 2. Add the Jazzy APT preview
  • 3. Run the TurtleBot3 demo
  • 4. Run a Fleet ROS demo
  • Optional: fleet smoke test
  • Docker alternative
• ROS 2 Demo Catalog
  • TurtleBot3
  • Navigation
  • Panda arm
  • Attach and detach
  • Fleet ROS GUI demo
  • Docker-only model catalog
• Bridge Interfaces
  • ROS communication patterns
  • Per-robot API
  • Fleet ROS API
  • Simulation services
  • Scale guidance
• Bridge Configuration
  • Exported API groups
  • Common deployment choices
  • Configuration files and assets
• Run Your First RMF Demo
  • 1. Install the RMF adapter package
  • 2. Add rmf_demos to a workspace
  • 3. Optional: start RMF Web without building a PyBulletFleet image
  • 4. Run an office patrol
  • Full Docker alternative
• Open-RMF Integration
  • RMF client modes
  • Two independent choices
  • Supported scenarios and task behavior
  • Run and validate
• RMF Demo Catalog
  • Scenarios
  • Native Jazzy
  • Docker
  • Dispatch Examples

Choose an environment

Environment	Best for	Start here
Jazzy APT preview	Running an installed bridge outside a source checkout	GitHub APT preview guide
Native Jazzy	Ubuntu 24.04 development, apt packages, and overlays	Native Jazzy setup
Docker	Reproducible bridge and RMF demos; no native ROS install	Docker bridge guide

The ROS packages provide interfaces and nodes. Install the separately released pybullet-fleet Python package in the Python environment that launches ROS nodes; the package includes the simulation core and PyBullet dependency.

Start here

Start with Run Your First ROS 2 Bridge, which includes a fleet interface recording, then browse the ROS 2 demo catalog or continue to Run Your First RMF Demo, which includes an office patrol recording, when you need task dispatch. Docker is an alternative for a fully provisioned environment; the repository READMEs remain references for Docker operations and native overlay maintenance.

Which control path should I use?

Need	Recommended path
Inspect or control individual robots with standard ROS interfaces	Per-robot API
Send one command or receive one state snapshot for a large fleet	Fleet ROS API (fleet_api)
Run an RMF demo with the lowest ROS control-path overhead	python_fleet
Make the RMF adapter itself use Fleet ROS API endpoints	fleet_ros
Preserve an existing per-robot ROS integration	per_robot_ros

See Bridge overview for endpoint semantics, configuration for enabling interfaces, and Open-RMF for the RMF client modes.