RMF Demo Catalog

Complete Run Your First RMF Demo before using these scenarios. All entries require the rmf_demos overlay because it supplies the building maps, navigation graphs, fleet configurations, and task tools. The examples default to client_mode:=python_fleet; see Open-RMF Integration before selecting a ROS-backed mode.

Scenarios

Scenario	Launch file	Fleets	Focus
Office	`office_pybullet.launch.py`	1	First patrol, delivery, and basic RMF dispatch
Campus	`campus_pybullet.launch.py`	1	Outdoor single-fleet navigation without doors or lifts
Battle royale	`battle_royale_pybullet.launch.py`	1	Compact single-fleet map and task dispatch
Clinic	`clinic_pybullet.launch.py`	2	Multiple fleets, doors, and elevators
Hotel	`hotel_pybullet.launch.py`	3	Multiple fleets with door and lift coordination
Airport terminal	`airport_terminal_pybullet.launch.py`	4	Largest multi-fleet configuration and cleaning tasks

Start with Office. The other scenarios reuse the same RMF infrastructure while changing the building map, bridge world, navigation graphs, and fleet adapters.

Native Jazzy

Source the ROS and rmf_demos overlays in every terminal. Replace office_pybullet.launch.py with any catalog launch file:

source /opt/ros/jazzy/setup.bash
source ~/rmf_demos_ws/install/setup.bash
ros2 launch pybullet_fleet_rmf office_pybullet.launch.py

The command assumes the dedicated ~/rmf_demos_ws overlay from the quickstart. When rmf_demos was added to an existing workspace, source that workspace’s install/setup.bash instead.

For a headless simulator and RMF visualization, use gui:=false. To omit RViz as well, add headless:=true:

ros2 launch pybullet_fleet_rmf hotel_pybullet.launch.py \
  gui:=false headless:=true

Native simulator with RMF Web containers

To add the RMF Web dashboard without building a PyBulletFleet Docker image, follow the optional Web stack step in Run Your First RMF Demo. It pulls only the upstream RMF Web API and dashboard images. Set the same ROS_DOMAIN_ID in every native terminal and pass server_uri:=ws://localhost:8000/_internal to the scenario launch:

export ROS_DOMAIN_ID=42
source /opt/ros/jazzy/setup.bash
source ~/rmf_demos_ws/install/setup.bash
ros2 launch pybullet_fleet_rmf office_pybullet.launch.py \
  gui:=false headless:=true target_rtf:=1.0 \
  server_uri:=ws://localhost:8000/_internal

The browser dashboard is then available at http://localhost:3000.

Docker

Docker Compose bind-mounts the checkout for the bridge and RMF packages, so clone the repository and build the image before running a scenario. The image already contains the required rmf_demos overlay:

git clone https://github.com/yuokamoto/PyBulletFleet.git
cd PyBulletFleet/docker
docker compose build bridge

Then run a scenario by replacing the launch filename:

docker compose run --rm bridge \
  ros2 launch pybullet_fleet_rmf clinic_pybullet.launch.py \
  gui:=false headless:=true

Full RMF Web stack

The Compose stack also starts the RMF Web API and dashboard. It is the most direct Docker demonstration of a fleet that is both dispatched through RMF and visible in a browser. Start the Office scenario with a headless simulator:

GUI=false RVIZ=false docker compose up --build

Open http://localhost:3000 for the RMF dashboard. The API is available at http://localhost:8000. The bridge automatically connects its fleet adapter to the API at ws://localhost:8000/_internal when it is launched through Compose.

In a second terminal, dispatch a task through the already-running bridge:

cd docker
docker compose exec bridge \
  ros2 run rmf_demos_tasks dispatch_patrol \
  -p pantry lounge -n 3 --use_sim_time

The task and robot state should appear in the dashboard. Stop the full stack with docker compose down. Set GUI=true or RVIZ=true when a local display server is available. To start another catalog scenario, set DEMO_WORLD before the command, for example DEMO_WORLD=clinic GUI=false RVIZ=false docker compose up.

Dispatch Examples

Run task commands in a second terminal after sourcing the same native overlays, or through another docker compose run --rm bridge command.

# Office patrol
ros2 run rmf_demos_tasks dispatch_patrol \
  -p pantry lounge -n 3 --use_sim_time

# Office delivery destination
ros2 run rmf_demos_tasks dispatch_go_to_place -- -p pantry

# Airport cleaning task
ros2 run rmf_demos_tasks dispatch_clean -cs zone_1 --use_sim_time

For multi-fleet scenarios, dispatch to the fleet expected by the map and task configuration. For example, the airport terminal launch accepts a patrol for the tinyRobot fleet:

ros2 run rmf_demos_tasks dispatch_patrol \
  -p A -n 1 -F tinyRobot --use_sim_time

The available waypoints, task types, and fleet names come from the pinned rmf_demos version. Inspect its map and fleet configuration when adapting a scenario rather than assuming Office waypoint names apply elsewhere.