VDA5050 Library and Support Tools
This package contains Python bindings for vda5050_core
See the documentation for more information.
Supported Platforms
- Python: 3.10+
- OS: Linux, MacOS (15+)
- Architecture: x86_64, arm64
pip install vda5050_core
Examples
Sample applications can be found in the source repository at
vda5050_core/examples/python.
You can launch a local MQTT broker to test them.
mosquitto -v -p 1883
Below are some quick examples
AGV Client Integration
The following example shows the basic setup for an AGV-side client.
from vda5050_core.rmf_migration import (
Adapter,
FleetConfiguration,
RobotCallbacks,
RobotConfiguration,
RobotState,
)
MAP_ID = "demo-map"
def main() -> None:
adapter = Adapter.make()
fleet_config = FleetConfiguration(
fleet_name="demo",
broker_uri="tcp://localhost:1883",
client_id_prefix="agv_1",
)
fleet = adapter.add_vda5050_fleet(fleet_config)
robot_config = RobotConfiguration(
manufacturer="Manufacturer",
serial_number="S001",
interface_name="uagv",
version="2.0.0",
)
initial_state = RobotState(MAP_ID, [0.0, 0.0, 0.0], 1.0)
robot_handle = None
def navigate(destination, execution) -> None:
# Forward the request to the robot navigation system.
#
# This demonstration reports completion immediately.
# A real integration should only report completion after
# the robot reaches the requested node.
execution.finished()
def stop() -> None:
pass
def execute_action(action_type, action_id, execution) -> None:
execution.finished()
callbacks = RobotCallbacks(navigate, stop, execute_action)
robot_handle = fleet.add_robot(
"robot-1",
initial_state,
robot_config,
callbacks,
)
adapter.start()
# Keep processing orders until Enter is pressed.
input()
adapter.stop()
if __name__ == "__main__":
main()
For a complete integration covering navigation, actions, localization, cancellation and state reporting, see the Client Adapter Guide and Open-RMF Migration Guide.
Master Control Integration
The following example shows the basic setup for a master.
from logging import getLogger
from time import sleep
from vda5050_core.master import VDA5050Master, AGVState, OrderAssignmentDecision
from vda5050_core.transport import create_default_client_shared
from vda5050_core.types import Order, Node, Edge
LOGGER = getLogger(__name__)
def main() -> None:
mqtt_client = create_default_client_shared("tcp://localhost:1883", "master_1")
master = VDA5050Master.make(mqtt_client)
def on_order_complete(agv_id, order_id):
LOGGER.info(f"[{agv_id} completed order {order_id}]")
# A real integration would assign this AGV's next order here, with a
# new order id, or return the AGV to its task queue.
master.on_order_complete(on_order_complete)
master.connect()
master.onboard_agv("Manufacturer", "S001")
# Wait until the AGV is online, localized and idle.
agv = master.get_agv("Manufacturer", "S001")
while agv.get_operational_state() != AGVState.AVAILABLE:
sleep(0.2)
# A simple order: drive from node N0 to node N1.
# Nodes take even sequence ids, the edges between them the odd ones.
order = Order()
order.order_id = "order-1"
order.order_update_id = 0
position = state.agv_position
pose = None if position is None else (position.x, position
order.nodes = [
Node.from_json({"nodeId": "N0", "sequenceId": 0, "released": True, "actions": []}),
Node.from_json({"nodeId": "N1", "sequenceId": 2, "released": True, "actions": []}),
]
order.edges = [
Edge.from_json({
"edgeId": "E0",
"sequenceId": 1,
"startNodeId": "N0",
"endNodeId": "N1",
"released": True,
"actions": []
})
]
result = master.assign_order("Manufacturer", "S001", order)
if result.decision != OrderAssignmentDecision.ASSIGNED:
# A real integration should read result.decision and result.errors to
# decide whether to retry, hand the task to another AGV, or raise it to
# an operator.
LOGGER.warning(f"Order [{order.order_id}] not assigned ({len(result.errors)})")
# Keep the master running until Enter is pressed.
input()
master.disconnect()
if __name__ == "__main__":
main()
For a complete integration covering order construction, validation, event handling and multi-AGV dispatch, see the Master Guide.
Release files for vda5050_core 0.1.0
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Source distribution (sdist)
| File | Size | Uploaded | Provenance | Actions |
|---|---|---|---|---|
| vda5050_core-0.1.0.tar.gz | 286.4 kB | With provenance | Details for vda5050_core-0.1.0.tar.gz |
Built distributions (wheels)
Total release size: 203.0 MB
Release files / vda5050_core-0.1.0.tar.gz
| Download URL | vda5050_core-0.1.0.tar.gz |
|---|---|
| Size | 286.4 kB |
| Tags | Source |
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| Size | 5.9 MB |
| Tags | CPython 3.15 CPython 3.15 free-threading Linux musl 1.2+ x86-64 |
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| Tags | CPython 3.15 CPython 3.15 free-threading Linux musl 1.2+ ARM64 |
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| Tags | CPython 3.14 Linux glibc 2.27+ x86-64 Linux glibc 2.28+ x86-64 |
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uv/0.13.6 {"installer":{"name":"uv","version":"0.13.6","subcommand":["publish"]},"python":null,"implementation":{"name":null,"version":null},"distro":{"name":"Ubuntu","version":"24.04","id":"noble","libc":null},"system":{"name":null,"release":null},"cpu":null,"openssl_version":null,"setuptools_version":null,"rustc_version":null,"ci":true}
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uv/0.13.6 {"installer":{"name":"uv","version":"0.13.6","subcommand":["publish"]},"python":null,"implementation":{"name":null,"version":null},"distro":{"name":"Ubuntu","version":"24.04","id":"noble","libc":null},"system":{"name":null,"release":null},"cpu":null,"openssl_version":null,"setuptools_version":null,"rustc_version":null,"ci":true}
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Transparency logSecurity for vda5050_core 0.1.0
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