Change maintainer emails, fix versions, minor cleanup

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
open-rmf · Jan 2, 2025 · a5b9705 · a5b9705
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diff --git a/.github/workflows/unit-tests.yaml b/.github/workflows/unit-tests.yaml
@@ -20,5 +20,5 @@ jobs:
         uses: ./.github/actions/build-and-test
         with:
           ros-distribution: ${{ matrix.ros_distribution }}
-          zenoh-version: 1.0.1
+          zenoh-version: 1.1.0
           integration-testing: OFF
diff --git a/README.md b/README.md
@@ -15,7 +15,7 @@
 
 Free fleet is a python implementation of the Open-RMF Fleet Adapter, based on the [`fleet_adapter_template`](https://github.com/open-rmf/fleet_adapter_template). It uses `zenoh` as a communication layer between each robot and the fleet adapter, allowing access and control over the navigation stacks of the robots.
 
-Using `zenoh` bridges to pipe the necessary ROS 2 messages between each robot and the `free_fleet_adapter`, users have the flexibility to configure and customize their network setups accordingly following the [official guide](https://github.com/eclipse-zenoh/zenoh?tab=readme-ov-file#configuration-options). Examples provided in this repository are using [these configurations](./free_fleet_examples/config/zenoh/), do take note of the selective topics that are required for the `free_fleet_adapter` to work. The `zenoh` configuration conveniently allows users to filter and limit the rate of messages based on topics as well, which will be helpful in deployments with limited network bandwidth.
+Using `zenoh` bridges to pipe the necessary ROS 2 / 1 messages between each robot and the `free_fleet_adapter`, users have the flexibility to configure and customize their network setups accordingly following the [official guide](https://github.com/eclipse-zenoh/zenoh?tab=readme-ov-file#configuration-options). Examples provided in this repository are using [these configurations](./free_fleet_examples/config/zenoh/), do take note of the selective topics that are required for the `free_fleet_adapter` to work. The `zenoh` configuration conveniently allows users to filter and limit the rate of messages based on topics as well, which will be helpful in deployments with limited network bandwidth.
 
 ![](../media/architecture.jpg)
 
@@ -27,10 +27,13 @@ Supports
 * [rmw-cyclonedds-cpp](https://github.com/ros2/rmw_cyclonedds)
 * [Open-RMF on main](https://github.com/open-rmf/rmf)
 * [zenoh-bridge-ros2dds v1.1.0](https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds/releases/tag/1.1.0)
+* [zenoh-bridge-ros1 main](https://github.com/aaronchongth/zenoh-plugin-ros1)
 * [zenoh router](https://zenoh.io/docs/getting-started/installation/#ubuntu-or-any-debian)
 
 We recommend setting up `zenoh-bridge-ros2dds` with the released standalone binaries. After downloading the appropriate released version and platform, extract and use the standalone binaries as is. For source builds of `zenoh-bridge-ros2dds`, please follow the [official guides](https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds).
 
+As for `zenoh-bridge-ros1`, a custom fork is currently used to support bridge namespaces, and requires to be built from source. Once the changes have been merged upstream, this will be updated.
+
 Most of the tests have been performed using `rmw-cyclonedds-cpp`, while other RMW implementations have shown varying results. Support and testing with other RMW implementations will be set up down the road.
 
 ## Dependency installation, source build and setup

diff --git a/free_fleet/package.xml b/free_fleet/package.xml
@@ -4,7 +4,7 @@
   <name>free_fleet</name>
   <version>2.0.0</version>
   <description>A free fleet management library</description>
-  <maintainer email="aaron@openrobotics.org">Aaron Chong</maintainer>
+  <maintainer email="aaronchong@intrinsic.ai">Aaron Chong</maintainer>
   <license>Apache License 2.0</license>
 
   <exec_depend>builtin_interfaces</exec_depend>

diff --git a/free_fleet/setup.py b/free_fleet/setup.py
@@ -5,7 +5,7 @@
 
 setup(
     name=package_name,
-    version='2.4.0',
+    version='2.0.0',
     packages=find_packages(),
     data_files=[
         (

diff --git a/free_fleet_adapter/free_fleet_adapter/nav1_robot_adapter.py b/free_fleet_adapter/free_fleet_adapter/nav1_robot_adapter.py
@@ -39,7 +39,6 @@
 from free_fleet_adapter.robot_adapter import RobotAdapter
 
 from geometry_msgs.msg import TransformStamped
-# import numpy as np
 import rclpy
 import rmf_adapter.easy_full_control as rmf_easy
 from rmf_adapter.robot_update_handle import ActivityIdentifier

diff --git a/free_fleet_adapter/package.xml b/free_fleet_adapter/package.xml
@@ -4,7 +4,7 @@
   <name>free_fleet_adapter</name>
   <version>2.0.0</version>
   <description>Free fleet Open-RMF fleet adapter based on fleet_adapter_template</description>
-  <maintainer email="aaron@openrobotics.org">Aaron Chong</maintainer>
+  <maintainer email="aaronchong@intrinsic.ai">Aaron Chong</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>

diff --git a/free_fleet_examples/package.xml b/free_fleet_examples/package.xml
@@ -4,7 +4,7 @@
   <name>free_fleet_examples</name>
   <version>2.0.0</version>
   <description>A package containing example maps and configs for running free fleet</description>
-  <maintainer email="aaron@openrobotics.org">Aaron Chong</maintainer>
+  <maintainer email="aaronchong@intrinsic.ai">Aaron Chong</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>