[Feature request]: map switching

[aaronchongth]

Before proceeding, is there an existing issue or discussion for this?

• I have done a search for similar issues and discussions.

Description

This ticket is related to the project listed here: https://github.com/osrf/osrf_wiki/wiki/GSoC25#new-open-rmf-demo-free-fleet-map-switching

To break it down into sub-tasks:

• Simulation demo and mapping: Re-use the existing rmf_demos hotel world, to create a new demo world and replace the existing robots with two simulated TurtleBots. These turtlebots will then map the simulation world and share the map between themselves to support single-floor navigation using Nav2.
• Integration of Open-RMF and Free Fleet: Set up a Free Fleet adapter, and integrate it with the two TurtleBots, to support basic single-floor Open-RMF tasks.
• Implement localization and map-switching command: This will allow the simulated robots to traverse levels using the virtual elevators, switch Nav2 maps, and still be able to localize, navigate, and receive Open-RMF commands to perform tasks across levels. Other supporting features within the Free Fleet Adapter will also require implementation. The fleet_adapter_mir can be used as a reference implementation.
• Documentation of usage, configuration and the new simulation as a "how to" guide for users .

Implementation Considerations

No response

Alternatives

No response

Additional information

No response

[aaronchongth]

@sophiamoyen, heads up. I am unable to assign you since you're not a collaborator yet, but this is a note that it has been assigned