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The core rmf packages provide centralized functions of the Open Robotics Middleware Framework (OpenRMF), including task queuing, conflict-free resource scheduling, and utilities to help create robot fleet adapters. OpenRMF is built on ROS 2, but direct use of ROS 2 is not required to use OpenRMF, and a deployment requires connecting the core to many other subsystems. A near-term roadmap for the RMF project (including rmf_core and beyond) is available in the user manual.
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