Architecture

The demo is built from four core modules. Tasks flow down into robot motion, and robot state flows back up to keep everyone in sync.

The four modules

Module	Role	Deep dive
Task Orchestrator	Decides what to do — runs the workflow for each task and requests routes.	Task Orchestrator →
MAPF	Decides where to go — plans collision-free paths and drives execution.	MAPF →
VDA5050	Talks to the robots — relays commands and reports state back.	VDA5050 →
Simulation	Plays the robot fleet so the whole stack runs without hardware.	Simulation →

End-to-end flow

1. A task is submitted.
2. The Task Orchestrator runs the task's workflow and asks MAPF for routes.
3. MAPF plans collision-free paths and drives their execution.
4. VDA5050 relays the movement commands to the robots and reports their state back up the chain.
5. The Simulation plays the role of the robot fleet, closing the loop for monitoring and the next planning cycle.

Repository layout

ros_industrial_ws/
├── ros_industrial_demo/      # integration hub: launch/teardown
├── ros_industrial_demo_docs/ # ← this documentation site (VitePress)
├── task_orchestrator_repo/   # Task Orchestrator
├── mapf_unified_repo/        # MAPF
├── vda5050_fiware_repo/      # VDA5050 bridge
└── simulation/               # UE5 packaged binary

To bring everything up, see Getting Started