ImRmfMapEditor

Opinionated, ImGui-based web editor for OpenRMF building map files. The wasm front-end talks Yjs over WebSocket to a Rust server that hosts the CRDT and flushes building.yaml to disk or S3.

Features

• Local filesystem and S3 storage backends. Optional auto-mount + auto-load at startup.
• Real-time multi-user collaboration via CRDT. Concurrent edits merge.
• Autosync with server-side validation; revert to last valid on bad edits.
• Browser-based, no install. Canvas embeds read-only into other apps.
• Batch edit shared fields (bidirectional, orientation) across selected lanes with mixed-value handling.
• Lane dissection: drag across lanes to split each at the intersection, parameters inherited.
• Marquee selects vertices and lanes together.
• Continuous lane drawing with H / V / 45° snap.
• Context-aware delete with optional cascade to referencing lanes only.

Shortcuts

Key	Action
S / V / L	Select / Vertex / Lane mode
W / D / M	Wall / Door / Measurement mode
F / H	Floor / Hole polygon mode
Enter	Close the floor/hole polygon
Esc	Break the lane/wall chain or cancel a polygon
Delete	Delete current selection
Ctrl/Cmd+S	Force flush
Ctrl+Z / Ctrl+Y	Undo / Redo
Shift (drag)	Snap to H / V / 45°
Shift (click)	Add / toggle in selection
Middle-mouse / wheel	Pan / zoom

Layout

model/        building.yaml parse/serialize. No UI / fetch deps.
canvas/       Map renderer (native + wasm). Embeddable read-only.
view/         EditorView: modes, selection, Yjs op wiring.
app/          Wasm cc_binary front-end.
server_rust/  axum/yrs WebSocket server: CRDT + REST.
server/       Shared buildings_api.
third_party/  Patched rmf_building_map_tools.

Run

From source:

bazel run //:dev

Open http://localhost:30010 and use the connect modal.

Forward server flags after --:

bazel run //:dev -- --port 30099 --no-validate

Docker

Build the artifacts, stage them where the Dockerfile expects them (dist/, dereferencing Bazel's output symlinks), then build and run:

bazel build //server_rust:imrmf_map_editor
bazel build --config=wasm //app:editor_wasm

mkdir -p dist/server_rust dist/app
cp -RL bazel-bin/server_rust/imrmf_map_editor          dist/server_rust/
cp -RL bazel-bin/server_rust/imrmf_map_editor.runfiles dist/server_rust/
cp -RL bazel-bin/app/editor_wasm                       dist/app/

docker build -t imrmf-map-editor:dev -f Dockerfile .
docker run --rm -p 30010:30010 -v "$(pwd)/maps:/var/imrmf/cache" imrmf-map-editor:dev

CI builds and publishes this image to ghcr.io/eigenblue-ai/imrmf_map_editor (see .github/workflows/build-image.yml).

Feature gaps vs upstream traffic-editor

Comparison against osrf/ros2multirobotbook/traffic-editor. Key: ✅ done · 🟡 partial · ❌ missing · — not applicable upstream.

Area	Feature	traffic-editor	imrmf_map_editor	Notes
Geometry tools	Walls (w)	✅	✅	draw chain, select, edit textures, delete
	Floor polygons	✅	✅	click a loop to define; fill + outline; param edit
	Hole polygons	✅	✅	added to the selected floor; outline only (fill doesn't subtract yet)
	Edit polygon tool	✅	🟡	loop vertices move with the shared vertex drag; no add/remove-vertex-in-loop yet
	Doors (hinged/sliding/etc.)	✅	✅	type + motion params, swing-arc glyph
	Lifts (multi-level, cabin, doors)	✅	❌	Building::passthrough
	Fiducials	✅	❌	no inter-level auto-transform
	Measurements (scale calibration)	✅	✅	create + edit distance; feeds level scale
	Model / asset placement	✅	❌	no thumbnail library
Edit ops	Move tool (m)	✅	🟡	only via Vertex-mode drag
	Rotate tool (r)	✅	❌	—
	Toggle bidirectional (b)	✅	❌	edit via attribute panel only
	Grid snap	✅	🟡	shift→H/V/45° only, no fixed grid
	Marquee select lanes	—	✅
	Multi-vertex align H/V	—	✅
Vertex params	Standard 11 RMF keys	✅	✅	match
	mutex, merge_radius	—	✅	extras
	Vertex.z (elevation)	✅	🟡	in struct, not in UI
Lane params	bidirectional, orientation, graph_idx, speed_limit, demo_mock_*, mutex	✅	✅	match
	Direction arrows	✅	✅	match
Level metadata	elevation editor	✅	❌	in struct, not editable
	drawing_filename direct edit	✅	🟡	only via Layers flow
	Add / rename / reorder levels	✅	❌	dropdown selector only
Building metadata	name editor	✅	❌	in struct, not editable
	coordinate_system editor	✅	❌	inherits loaded value
Layer	scale / yaw / translation	✅	✅	match
	RGB color	✅	✅	match
	Alpha (color_a)	✅	✅	match
	visible toggle	✅	✅	match
Sidebar	Levels panel	✅	❌	—
	Layers panel	✅	✅	match (overlay)
	Lifts panel	✅	❌	—
	Traffic tab + per-graph visibility (0..8)	✅	❌	all lanes always drawn
	Live cursor coords	✅	❌	—
	Graph color legend	✅	❌	—
Crowd sim	human_goal_set_name on vertex	✅	✅	match
	crowd_sim block editor (agent_groups, profiles, transitions)	✅	❌	Building::passthrough
Workflow	building_map_generator integration	✅	🟡	server validates only, no UI button
	Nav-graph (*.nav.yaml) export	✅	❌	—
	3D / wall-mesh preview / export	✅	❌	—
	Scenario / task authoring	✅	❌	—
Sync / storage	Local filesystem	✅	✅	match
	S3 backend	—	✅
	Multi-user Yjs CRDT	—	✅
	Browser / wasm UI	—	✅
	Auto-mount / auto-building	—	✅

License

Apache 2.0.