open-rmf/rmf_ros2

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Internal ROS infrastructure for RMF

Stars: 117
Forks: 108
Open beginner issues: 0
Indexed issues: 79
Avg merge: 41m
Merged PRs (30d): 1

Dominant language: C++
License: Apache-2.0
Last GitHub push: Sep 11, 2026
Latest indexed: Sep 19, 2026
Contributing guide: Contributing guide
Code of conduct: Code of conduct
Beginner labels: good first issue help wanted

Beginner friendly Everything

Open All

79 open issues indexed

[Other issue]: A robot riding a lift has no path back to the correct map, so a replan during the ride loses it or pins it to the boarding floor Open

Difficulty 5/5 Over a week Newbie friendliness 30/100

open-rmf/rmf_ros2#557 · Opened Sep 9, 2026
[Bug]: A lift is re-summoned to the boarding floor when a replan happens while a robot is riding it Open

Difficulty 3/5 1-2 days Newbie friendliness 25/100

open-rmf/rmf_ros2#555 · Opened Sep 9, 2026
add_robot() throws from inside the async_make_participant callback — one robot with no reachable charger aborts the whole fleet adapter process (Humble) Open

open-rmf/rmf_ros2#553 · 1 comment · 1 assignee · Opened Sep 2, 2026
[rmf_fleet_adapter_python] Bindings never release the GIL — fleet-wide interpreter deadlock when RMF workers call back into Python (Humble) Open

Difficulty 4/5 3-5 days Newbie friendliness 52/100

open-rmf/rmf_ros2#549 · 1 comment · Opened Aug 24, 2026
[Feature request]: Navigation Path for Fleet Adapter (Python) Open

enhancement

open-rmf/rmf_ros2#530 · 5 comments · 1 assignee · Opened Jun 13, 2026
[Feature] Make 'reversible: false' a preference, not a hard constraint, for lane direction enforcement Open

Difficulty 5/5 Over a week Newbie friendliness 35/100

open-rmf/rmf_ros2#505 · 1 comment · Opened Jan 31, 2026
[Feature request]: Figure out a way to perform integrated testing of reservation system Open

enhancement

Difficulty 5/5 Over a week Newbie friendliness 25/100

open-rmf/rmf_ros2#504 · Opened Jan 27, 2026
[Bug]: Deadlock when patrolling Open

bug

open-rmf/rmf_ros2#503 · 1 assignee · Opened Jan 23, 2026
Add Python bindings for task assignment strategy Open

help wanted

Difficulty 3/5 1-2 days Newbie friendliness 42/100

open-rmf/rmf_ros2#501 · 1 comment · Opened Jan 13, 2026
Segmentation fault (exit -11) in fleet_adapter when dispatching patrol task Open

Difficulty 4/5 3-5 days Newbie friendliness 35/100

open-rmf/rmf_ros2#497 · 2 comments · Opened Dec 27, 2025
[Bug]: Remove publishers related to /task_summaries topic Open

bug good first issue

Difficulty 4/5 3-5 days Newbie friendliness 35/100

open-rmf/rmf_ros2#477 · 10 comments · Opened Sep 29, 2025
[Feature request]: can ready_only vehicles lock a mutex_group? Open

enhancement

Difficulty 5/5 Over a week Newbie friendliness 30/100

open-rmf/rmf_ros2#471 · 1 comment · Opened Sep 4, 2025
[Feature request]: Add an Option to consider finishing-request end state during task planning Open

enhancement

Difficulty 4/5 3-5 days Newbie friendliness 35/100

open-rmf/rmf_ros2#461 · 1 comment · Opened Aug 16, 2025
[Bug]: Battery estimation not recalculated after charging task cancellation Open

bug

Difficulty 4/5 3-5 days Newbie friendliness 45/100

open-rmf/rmf_ros2#460 · 1 comment · Opened Aug 12, 2025
Concerns with BroadcastServer Open

Difficulty 4/5 3-5 days Newbie friendliness 30/100

open-rmf/rmf_ros2#456 · 4 comments · Opened Jul 25, 2025
[Bug]: `rmf_traffic_shedule_monitor` throwing `rclcpp::UnsupportedEventTypeException` when used with `rmw_zenoh` Open

bug

Difficulty 4/5 3-5 days Newbie friendliness 43/100

open-rmf/rmf_ros2#443 · Opened Jun 16, 2025
Backport #390 to Jazzy Open

open-rmf/rmf_ros2#394 · 1 assignee · Opened Nov 27, 2024
[Bug]: Incorrect delay when robot is performing an action Open

bug

Difficulty 4/5 3-5 days Newbie friendliness 38/100

open-rmf/rmf_ros2#386 · Opened Sep 13, 2024
[Bug]: Mutex group is accquired by other robot when first robot has already accquired it and performing action Open

bug

Difficulty 4/5 3-5 days Newbie friendliness 30/100

open-rmf/rmf_ros2#375 · 1 comment · Opened Jul 13, 2024
[Bug]: Uncrustify failing on Noble Open

bug

Difficulty 3/5 1-2 days Newbie friendliness 35/100

open-rmf/rmf_ros2#360 · Opened Jun 2, 2024
[Bug]: RobotUpdateHandle API set_charger_waypoint() doesn't work Open

bug

Difficulty 4/5 3-5 days Newbie friendliness 42/100

open-rmf/rmf_ros2#337 · Opened Mar 25, 2024
[Feature request]: Task status on both ROS topic and websocket Open

enhancement

Difficulty 5/5 Over a week Newbie friendliness 35/100

open-rmf/rmf_ros2#324 · 2 comments · 1 reaction · Opened Feb 2, 2024
[Feature request]: Include diagram in documentation to describe how different nodes interact during traffic negotiation Open

enhancement

Difficulty 4/5 3-5 days Newbie friendliness 38/100

open-rmf/rmf_ros2#293 · Opened Aug 1, 2023
Potential extra waypoints in follow_new_path() when plan contains a docking waypoint Open

bug

Difficulty 3/5 1-2 days Newbie friendliness 45/100

open-rmf/rmf_ros2#278 · Opened Jun 1, 2023
Where can we change the waiting times for waypoints? Open

Difficulty 3/5 1-2 days Newbie friendliness 35/100

open-rmf/rmf_ros2#263 · 8 comments · Opened Feb 7, 2023
Add API for direct robot charging requests Open

enhancement

Difficulty 4/5 3-5 days Newbie friendliness 42/100

open-rmf/rmf_ros2#261 · Opened Feb 3, 2023
Fleet adapter crash with no error when doing a multi floor planning Open

bug

Difficulty 4/5 3-5 days Newbie friendliness 35/100

open-rmf/rmf_ros2#259 · 3 comments · Opened Jan 17, 2023
Ambiguous error in rmf_fleet_adapter::agv::parse_graph, no file found when given nav_graph Open

Difficulty 3/5 1-2 days Newbie friendliness 42/100

open-rmf/rmf_ros2#257 · 3 comments · Opened Jan 4, 2023
github pages workflow is failing Open

bug

open-rmf/rmf_ros2#254 · 1 assignee · Opened Dec 10, 2022
Cannot analyze task_state json message as before Open

Difficulty 4/5 3-5 days Newbie friendliness 28/100

open-rmf/rmf_ros2#249 · 3 comments · Opened Nov 19, 2022
Update implementation of FleetUpdateHandle::close_lanes() to automatically replan for robots if needed Open

enhancement

Difficulty 4/5 3-5 days Newbie friendliness 35/100

open-rmf/rmf_ros2#248 · 2 comments · 1 reaction · Opened Nov 10, 2022
[rmf_traffic_schedule] Failed to correctly load participant registry: yaml-cpp Open

bug

Difficulty 4/5 3-5 days Newbie friendliness 25/100

open-rmf/rmf_ros2#242 · 1 comment · 1 reaction · Opened Oct 5, 2022
Cannot change robot speed on different lanes Open

Difficulty 4/5 3-5 days Newbie friendliness 35/100

open-rmf/rmf_ros2#234 · Opened Sep 13, 2022
Task recovery when fleet adapter get restarted Open

enhancement

Difficulty 5/5 Over a week Newbie friendliness 25/100

open-rmf/rmf_ros2#224 · Opened Aug 19, 2022
Supervisor to manage requests to modify lane states Open

enhancement

Difficulty 5/5 Over a week Newbie friendliness 25/100

open-rmf/rmf_ros2#218 · Opened Jul 1, 2022
A package with APIs to retrieve topic names and QoS settings Open

enhancement

Difficulty 5/5 Over a week Newbie friendliness 30/100

open-rmf/rmf_ros2#216 · Opened Jun 23, 2022
Introduce a robot queuing system Open

enhancement

Difficulty 5/5 Over a week Newbie friendliness 20/100

open-rmf/rmf_ros2#214 · 7 comments · Opened Jun 9, 2022
Free space planning and negotiation Open

enhancement

Difficulty 5/5 Over a week Newbie friendliness 25/100

open-rmf/rmf_ros2#213 · Opened Jun 9, 2022
Convert all executables into ROS 2 Components Open

enhancement

Difficulty 5/5 Over a week Newbie friendliness 25/100

open-rmf/rmf_ros2#208 · Opened May 12, 2022
Lookahead Traffic Behavior Open

enhancement

Difficulty 5/5 Over a week Newbie friendliness 25/100

open-rmf/rmf_ros2#201 · Opened Apr 20, 2022
API to update robot itinerary from RobotUpdateHandle::ActionExecution Open

enhancement

open-rmf/rmf_ros2#195 · 2 comments · 1 assignee · Opened Apr 12, 2022
rmf_fleet_adapter_python not compiling in ros rolling - jammy Open

bug

Difficulty 3/5 1-2 days Newbie friendliness 35/100

open-rmf/rmf_ros2#181 · 1 comment · Opened Mar 3, 2022
Update Traffic Light fleet adapters to use the new websocket system Open

bug

open-rmf/rmf_ros2#178 · 1 assignee · Opened Feb 25, 2022
Bring back tsan testing for the CI Open

bug

Difficulty 4/5 3-5 days Newbie friendliness 38/100

open-rmf/rmf_ros2#172 · 1 comment · Opened Feb 13, 2022
Fix use of deprecated pytesting argument Open

bug

Difficulty 4/5 3-5 days Newbie friendliness 35/100

open-rmf/rmf_ros2#171 · Opened Feb 12, 2022
redesign_v2: missing "completed" status for patrol task with same waypoints Open

bug

Difficulty 4/5 3-5 days Newbie friendliness 35/100

open-rmf/rmf_ros2#170 · 1 comment · Opened Feb 11, 2022
rmf_traffic_ros2 in rolling fails to build on rhel targets Open

Difficulty 4/5 3-5 days Newbie friendliness 35/100

open-rmf/rmf_ros2#156 · 2 comments · Opened Jan 18, 2022
Finish migration to new task system Open

Difficulty 5/5 Over a week Newbie friendliness 15/100

open-rmf/rmf_ros2#153 · Opened Jan 9, 2022
Fleet state publishing does not scale with simulation RTF Open

enhancement

open-rmf/rmf_ros2#151 · 1 assignee · Opened Jan 4, 2022
Add speed limit publishing to robot state Open

enhancement

Difficulty 4/5 3-5 days Newbie friendliness 45/100

open-rmf/rmf_ros2#143 · Opened Nov 26, 2021

open-rmf/rmf_ros2

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