README.md

July 8, 2025 · View on GitHub

What Is This?

This repository contains the RMF Door Adapter that interfaces with Smarfid's Door Access System ICAD v3.

Dependencies 📚

Build 🔨

cd $HOME

git clone https://github.com/KABAM-Robotics/door_adapter_megazo.git --depth 1 --single-branch --branch devel/jazzy && cd door_adapter_megazo

docker build -t door_adapter_megazo:jazzy .

Run ⚙️

docker run -it --rm \
    --name door_adapter_megazo_c \
    --network host \
    -e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp \
    -v ./door_adapter_megazo/config.yaml:/door_adapter_megazo_ws/src/door_adapter_megazo/config.yaml \
door_adapter_megazo:jazzy /bin/bash -c "source /ros_entrypoint.sh && ros2 run door_adapter_megazo door_adapter --config_file /door_adapter_megazo_ws/src/door_adapter_megazo/config.yaml"

Verify ✅

Upon the running the command above, it should output similar to what is shown below:

[INFO] [1729654097.436618736] [door_adapter_megazo]: Initialising [door_adapter_megazo]...
[INFO] [1729654097.472651911] [door_adapter_megazo]: Connected to door client API.
[INFO] [1729654098.498656692] [door_adapter_megazo]: Door [Lab_D01] [MODE_CLOSED]
[INFO] [1729654099.511240654] [door_adapter_megazo]: Door [Lab_D01] [MODE_CLOSED]
[INFO] [1729654100.514910118] [door_adapter_megazo]: Door [Lab_D01] [MODE_CLOSED]
[INFO] [1729654101.502347821] [door_adapter_megazo]: Door [Lab_D01] [MODE_CLOSED]

Configure 🔧

To allow door_adapter_megazo to be configured for custom deployment, please edit the following in config.yaml:

door name and id

Set the same as the door on your RMF Map .building.yaml file.

door_auto_closes

Set to True if door remains closed until requested open, and automatically closes if it does not receive subsequent open requests.

door_signal_period

Set time taken for door signal to be effective, in seconds.

continuous_status_polling

Set whether to keep checking door state when there are no requests.

header_key, header_value

Set the Megazo API username and password respectively. Please contact the Megazo vendor for details.

enable_mqtt_status_polling

Set whether to poll a door status using MQTT or not. Use when conventional approach is inaccurate.