This chapter describes the requirements and basic steps to integrate hardware with RMF. These include mobile robots, doors, elevators and workcells. In each section, we will go through how to build and use the necessary ROS 2 packages and interfaces, as well as possible scenarios where such interactions occur.

RMF uses ROS 2 messages and topic interfaces to communicate between different components in the overall RMF system. In most cases we use components called Adapters to bridge between the hardware-specific interfaces and the general purpose interfaces of RMF. This chapter will discuss how to develop an RMF Adapter for different types of hardware components.