Open‑RMF×Kachaka×Elevator Integration Demo
This page introduces a proof‑of‑concept demo in which the household delivery robot “Kachaka” cooperates with a building elevator under Open‑RMF control.
Overview
To manage both mobile robots and building infrastructure in a single framework, we adopted
Open‑RMF (Robotics Middleware Framework). The key components are:
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LCI RMF adapter – Connects an Octa robotics LCI elevator to RMF
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Fleet Adapter (custom) – Implemented in Python using
open‑rmf/fleet_adapter_template -
Zenoh_bridge (kachaka‑api) – Bridges the official Kachaka Python API to the Zenoh Key/Value store
By combining ROS 2 topics with Zenoh messaging, we achieved seamless RMF integration across NAT boundaries with minimal changes on the robot side.
System Architecture
The diagram above illustrates the system architecture, with each component fulfilling the following roles:
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LCI RMF adapter
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Sends floor-selection and door-open/close commands to the elevator
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Bi-directional communication with RMF via ROS 2 topics
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Fleet Adapter (fleet_adapter_zenoh)
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Built in Python on top of fleet_adapter_template
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Bridges Zenoh Key/Value and ROS 2 topics
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Converts Kachaka status and commands from Zenoh into the RMF Fleet topics
-
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Zenoh_bridge (kachaka‑api‑for‑openrmf)
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Maps the official kachaka‑api onto Zenoh Pub/Sub
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Provides real‑time communication between Kachaka and the Fleet Adapter
Links
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Open‑RMF: https://github.com/open-rmf
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LCI‑RMF‑adapter: https://github.com/octarobotics/lci-rmf-adapter
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kachaka‑api‑for‑openrmf: https://github.com/sbgisen/kachaka-api-for-openrmf
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Zenoh: https://zenoh.io/
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Kachaka (official): https://kachaka.life/
“Kachaka” is a registered trademark of Preferred Robotics Inc.