Meta-Ticket for Next-Generation Prototype Traffic Management
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@arjo129 is already working on this.
Since Jul 17, 2026.
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Description
Before proceeding, is there an existing issue or discussion for this?
- I have done a search for similar issues and discussions.
Description
As part of our initiative to transition towards a more “horizontal” architecture in open-rmf, @mxgrey has proposed a six-stage roadmap:
https://discourse.openrobotics.org/t/next-generation-open-rmf-roadmap/53820
Implementation Considerations
This ticket specifically addresses the first phase of this development cycle.
A comprehensive specification for the next-generation prototype is detailed in the following posts:
- https://discourse.openrobotics.org/t/taxonomy-of-interfaces-for-the-next-generation/44310
- https://discourse.openrobotics.org/t/traffic-management-interfaces-for-the-next-generation/44414
These posts provide a rigorous specification for next-generation interfaces, sufficient to serve as a baseline for implementing an instance of open-rmf.
Furthermore, several technology demonstrations are available across various repositories:
- CCBS-based MAPF planner: https://github.com/open-rmf/mapf
- PIBT-based high-throughput homogenous planning: https://github.com/arjo129/pibt_rs
- Algorithms for spatio-temporal allocation: https://github.com/arjo129/mapf_post and the associated demo: https://github.com/arjo129/spatio_temporal_partitioning
- Crossflow workflows for Nav2 integration: https://github.com/xiyuoh/next_gen_nav2_traffic
Additionally, we maintain a mature visualization tool: https://github.com/open-rmf/rmf_site
The objective of this ticket is to establish a concrete action plan for a reference implementation of the open-rmf message specification and Nav2 integration. The next-generation traffic interfaces comprise three primary components:
- Destination Server: Functionally equivalent to RMF’s reservation_node.
- Plan Server: Functionally equivalent to RMF’s rmf_traffic.
- Plan Executor: Previously integrated within rmf_fleet_adapter.
A Minimum Viable Product (MVP) will implement these three layers. For clarity, I have decomposed each component into discrete milestones.
Pass 1
This initial phase prioritizes establishing the core software components; fault tolerance and session_refresh components will be excluded from this scope.
Destination Server
- Implement a basic ROS 2 Rust node that validates incoming destinations and returns an error if occupied. This will utilize the Region message option (graph-based options will be supported in future iterations). See #25
- Establish launch testing infrastructure to validate MS1 results. See #25
- #9
- #10
Plan Server
- Develop a generalized path planning server that processes destination requests and generates map plans, focusing on the
Plan.msgmessage format (See #17). - Integrate a MAPF algorithm within the new interface structure. (See #17).
- Deploy basic launch testing infrastructure. (See #17 ).
- #11
- #12
Plan Executor
- Implement
PlanRelease.msgsupport. (See #17) - Implement
SafeZone.msgsupport. (See #17) - Develop a mock Python-based agent to simulate ideal behavior. (See #17)
Visualization
- Develop a simple visualization for robots by streaming over http
- launch file with simple end-to-end demo in an open space
Developer Infrastructure
- Develop a docker container pipeline to build core experiences (see #20)
- Add CI (see #20)
At the end of Pass 1 we will have a simple playground with swappable algorithms for MAPF and a simple destination server. This will by no means be within parity of the old open-rmf.
Pass 2
The focus of this pass will be on handling failures and edge cases for robots within a free-space
Across All Nodes
-
~session_refreshlogic. - Develop participant registration/deregistration logic.
Path Server/Path Executor
- Implement odometry Time-to-Live (TTL).
- Implement the fleet stalling framework.
- Crossflow integration (figure out what plugins will look like)
- Nav2 integration
- #21
- #27
- #37
Visualization
- Develop a simple visualization for robots by streaming over http with
rmf_site.
Pass 3
The focus of this pass will be to build out more complex logic
Destination Server
- Develop Graph based approach. Figure out mapping between graph and free-space.
- Dominant language
- Python
- Stars
- 10
- Forks
- 9
- Avg merge
- 3h 21m
- Merged PRs (30d)
- 1
Getting set up
- No Dockerfile or Docker Compose file
- No pull request template
- Read the contributing guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
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