diff --git a/nexus_integration_tests/config/office/tinyRobot_config.yaml b/nexus_integration_tests/config/office/tinyRobot_config.yaml
deleted file mode 100644
index 75d53a7..0000000
--- a/nexus_integration_tests/config/office/tinyRobot_config.yaml
+++ /dev/null
@@ -1,48 +0,0 @@
-# FLEET CONFIG =================================================================
-# RMF Fleet parameters
-
-rmf_fleet:
-  name: "tinyRobot"
-  limits:
-    linear: [0.5, 0.75] # velocity, acceleration
-    angular: [0.6, 2.0] # velocity, acceleration
-  profile: # Robot profile is modelled as a circle
-    footprint: 0.3 # radius in m
-    vicinity: 0.5 # radius in m
-  reversible: True # whether robots in this fleet can reverse
-  battery_system:
-    voltage: 12.0 # V
-    capacity: 24.0 # Ahr
-    charging_current: 5.0 # A
-  mechanical_system:
-    mass: 20.0 # kg
-    moment_of_inertia: 10.0 #kgm^2
-    friction_coefficient: 0.22
-  ambient_system:
-    power: 20.0 # W
-  tool_system:
-    power: 0.0 # W
-  recharge_threshold: 0.10 # Battery level below which robots in this fleet will not operate
-  recharge_soc: 1.0 # Battery level to which robots in this fleet should be charged up to during recharging tasks
-  publish_fleet_state: 10.0 # Publish frequency for fleet state, ensure that it is same as robot_state_update_frequency
-  account_for_battery_drain: True
-  task_capabilities: # Specify the types of RMF Tasks that robots in this fleet are capable of performing
-    loop: True
-    delivery: True
-  actions: ["teleop"]
-  finishing_request: "park" # [park, charge, nothing]
-  responsive_wait: True # Should responsive wait be on/off for the whole fleet by default? False if not specified.
-  reassign_task_interval: 120 # seconds, specify how often a task reassignment should be triggered in the fleet
-  robots:
-    tinyRobot1:
-        charger: "tinyRobot1_charger"
-        responsive_wait: False # Should responsive wait be on/off for this specific robot? Overrides the fleet-wide setting.
-    tinyRobot2:
-        charger: "tinyRobot2_charger"
-        # No mention of responsive_wait means the fleet-wide setting will be used
-
-fleet_manager:
-  ip: "127.0.0.1"
-  port: 22011
-  user: "some_user"
-  password: "some_password"
diff --git a/nexus_integration_tests/config/rmf/depot_scan.png b/nexus_integration_tests/config/rmf/depot_scan.png
new file mode 100644
index 0000000..bfc74d9
Binary files /dev/null and b/nexus_integration_tests/config/rmf/depot_scan.png differ
diff --git a/nexus_integration_tests/config/rmf_bts/transportation.xml b/nexus_integration_tests/config/rmf/transportation.xml
similarity index 100%
rename from nexus_integration_tests/config/rmf_bts/transportation.xml
rename to nexus_integration_tests/config/rmf/transportation.xml
diff --git a/nexus_integration_tests/launch/depot.launch.xml b/nexus_integration_tests/launch/depot.launch.xml
deleted file mode 100644
index ad4635f..0000000
--- a/nexus_integration_tests/launch/depot.launch.xml
+++ /dev/null
@@ -1,41 +0,0 @@
-<?xml version='1.0' ?>
-
-<launch>
-  <arg name="headless" default="true"/>
-  <arg name="use_simulator" default="true"/>
-  <arg name="sim_update_rate" default='100'/>
-
-  <!-- RMF Common launch -->
-  <include file="$(find-pkg-share nexus_integration_tests)/launch/rmf/common.launch.xml">
-    <arg name="use_sim_time" value="$(var use_simulator)"/>
-    <arg name="config_file" value="$(find-pkg-share nexus_integration_tests)/config/rmf/depot.building.yaml"/>
-  </include>
-
-  <!-- DeliveryRobot fleet adapter -->
-  <group>
-    <include file="$(find-pkg-share rmf_demos_fleet_adapter)/launch/fleet_adapter.launch.xml">
-      <arg name="use_sim_time" value="$(var use_simulator)"/>
-      <arg name="nav_graph_file" value="$(find-pkg-share nexus_integration_tests)/config/rmf/nav_graphs/0.yaml" />
-      <arg name="config_file" value="$(find-pkg-share nexus_integration_tests)/config/rmf/deliveryRobot_config.yaml"/>
-    </include>
-  </group>
-
-  <node pkg="nexus_workcell_orchestrator" exec="nexus_workcell_orchestrator" name="rmf_nexus_transporter" output="both">
-    <param name="capabilities" value="[nexus::capabilities::RMFRequestCapability]"/>
-    <param name="bt_path" value="$(find-pkg-share nexus_integration_tests)/config/rmf_bts"/>
-  </node>
-
-  <!-- Simulator launch -->
-  <include if="$(var use_simulator)" file="$(find-pkg-share nexus_integration_tests)/launch/rmf/simulation.launch.xml">
-    <arg name="headless" value="$(var headless)" />
-    <arg name="world_path" value="$(find-pkg-share nexus_integration_tests)/config/rmf/depot.world" />
-  </include>
-
-  <!-- Bringup from integration tests -->
-  <!-- TODO(luca) should we move the integration launch here instead? -->
-  <include file="$(find-pkg-share nexus_integration_tests)/launch/launch.py">
-    <arg name="headless" value="$(var headless)" />
-    <arg name="use_sim_time" value="$(var use_simulator)"/>
-  </include>
-
-</launch>
diff --git a/nexus_integration_tests/launch/control_center.launch.py b/nexus_integration_tests/launch/inter_workcell.launch.py
similarity index 74%
rename from nexus_integration_tests/launch/control_center.launch.py
rename to nexus_integration_tests/launch/inter_workcell.launch.py
index c0cb2f2..57c3897 100644
--- a/nexus_integration_tests/launch/control_center.launch.py
+++ b/nexus_integration_tests/launch/inter_workcell.launch.py
@@ -106,6 +106,8 @@ def activate_node(target_node: LifecycleNode, depend_node: LifecycleNode = None)
 
 def launch_setup(context, *args, **kwargs):
     ros_domain_id = LaunchConfiguration("ros_domain_id")
+    use_fake_hardware = LaunchConfiguration("use_fake_hardware")
+    use_rmf_transporter = LaunchConfiguration("use_rmf_transporter")
     use_zenoh_bridge = LaunchConfiguration("use_zenoh_bridge")
     zenoh_config_package = LaunchConfiguration("zenoh_config_package")
     zenoh_config_filename = LaunchConfiguration("zenoh_config_filename")
@@ -115,8 +117,11 @@ def launch_setup(context, *args, **kwargs):
     main_bt_filename = LaunchConfiguration("main_bt_filename")
     remap_task_types = LaunchConfiguration("remap_task_types")
 
+    rviz_config_filename = "nexus_panel.rviz"
+    if (use_rmf_transporter.perform(context).lower() == "true"):
+        rviz_config_filename = "nexus_panel_rmf.rviz"
     nexus_panel_rviz_path = os.path.join(
-        get_package_share_directory("nexus_integration_tests"), "rviz", "nexus_panel.rviz"
+        get_package_share_directory("nexus_integration_tests"), "rviz", rviz_config_filename
     )
 
     system_orchestrator_node = LifecycleNode(
@@ -137,6 +142,27 @@ def launch_setup(context, *args, **kwargs):
         ],
     )
 
+    rmf_transporter = GroupAction(
+        actions=[
+            IncludeLaunchDescription(
+                [
+                    PathJoinSubstitution(
+                        [
+                            FindPackageShare("nexus_integration_tests"),
+                            "launch",
+                            "rmf_transporter.launch.xml",
+                        ]
+                    )
+                ],
+                launch_arguments={
+                    "use_simulator": use_fake_hardware,
+                    "headless": headless,
+                }.items(),
+                condition=IfCondition(use_rmf_transporter),
+            )
+        ],
+    )
+
     transporter_node = LifecycleNode(
         namespace="",
         package="nexus_transporter",
@@ -149,6 +175,14 @@ def launch_setup(context, *args, **kwargs):
             {"speed": 1.0},
             {"unloading_station": "unloading"},
         ],
+        condition=UnlessCondition(use_rmf_transporter),
+    )
+
+    activate_transporter_node = GroupAction(
+        [
+            activate_node(transporter_node),
+        ],
+        condition=UnlessCondition(use_rmf_transporter),
     )
 
     mock_emergency_alarm_node = LifecycleNode(
@@ -166,40 +200,45 @@ def launch_setup(context, *args, **kwargs):
         condition=UnlessCondition(headless),
     )
 
+    zenoh_bridge = GroupAction(
+        [
+            IncludeLaunchDescription(
+                [
+                    PathJoinSubstitution(
+                        [
+                            FindPackageShare("nexus_integration_tests"),
+                            "launch",
+                            "zenoh_bridge.launch.py",
+                        ]
+                    )
+                ],
+                launch_arguments={
+                    "zenoh_config_package": zenoh_config_package,
+                    "zenoh_config_filename": zenoh_config_filename,
+                    "ros_domain_id": ros_domain_id.perform(context),
+                }.items(),
+            )
+        ],
+        condition=IfCondition(use_zenoh_bridge),
+    )
+
+    activate_system_orchestrator = GroupAction(
+        [
+            activate_node(system_orchestrator_node),
+        ],
+        condition=IfCondition(activate_system_orchestrator),
+    )
+
     return [
         SetEnvironmentVariable("ROS_DOMAIN_ID", ros_domain_id),
         system_orchestrator_node,
+        rmf_transporter,
         transporter_node,
         mock_emergency_alarm_node,
         nexus_panel,
-        GroupAction(
-            [
-                IncludeLaunchDescription(
-                    [
-                        PathJoinSubstitution(
-                            [
-                                FindPackageShare("nexus_integration_tests"),
-                                "launch",
-                                "zenoh_bridge.launch.py",
-                            ]
-                        )
-                    ],
-                    launch_arguments={
-                        "zenoh_config_package": zenoh_config_package,
-                        "zenoh_config_filename": zenoh_config_filename,
-                        "ros_domain_id": ros_domain_id.perform(context),
-                    }.items(),
-                )
-            ],
-            condition=IfCondition(use_zenoh_bridge),
-        ),
-        GroupAction(
-            [
-                activate_node(system_orchestrator_node),
-            ],
-            condition=IfCondition(activate_system_orchestrator),
-        ),
-        activate_node(transporter_node),
+        zenoh_bridge,
+        activate_system_orchestrator,
+        activate_transporter_node,
         activate_node(mock_emergency_alarm_node),
     ]
 
@@ -213,6 +252,17 @@ def generate_launch_description():
                 default_value="0",
                 description="ROS_DOMAIN_ID environment variable",
             ),
+            DeclareLaunchArgument(
+                "use_fake_hardware",
+                default_value="true",
+                description="Set True if running with real hardware.",
+            ),
+            DeclareLaunchArgument(
+                "use_rmf_transporter",
+                default_value="false",
+                description="Set true to rely on an Open-RMF managed fleet to transport material\
+                between workcells.",
+            ),
             DeclareLaunchArgument(
                 "use_zenoh_bridge",
                 default_value="true",
diff --git a/nexus_integration_tests/launch/launch.py b/nexus_integration_tests/launch/launch.py
index ff4567b..32adad0 100644
--- a/nexus_integration_tests/launch/launch.py
+++ b/nexus_integration_tests/launch/launch.py
@@ -41,6 +41,7 @@ def launch_setup(context, *args, **kwargs):
         exit(1)
 
     headless = LaunchConfiguration("headless")
+    use_rmf_transporter = LaunchConfiguration("use_rmf_transporter")
     use_zenoh_bridge = LaunchConfiguration("use_zenoh_bridge")
     use_fake_hardware = LaunchConfiguration("use_fake_hardware")
     robot1_ip = LaunchConfiguration("robot1_ip")
@@ -48,23 +49,23 @@ def launch_setup(context, *args, **kwargs):
     run_workcell_1 = LaunchConfiguration("run_workcell_1")
     run_workcell_2 = LaunchConfiguration("run_workcell_2")
 
-    control_center_domain_id = 0
+    inter_workcell_domain_id = 0
     workcell_1_domain_id = 0
     workcell_2_domain_id = 0
     log_msg = ""
 
     if "ROS_DOMAIN_ID" in os.environ:
-        control_center_domain_id = int(os.environ["ROS_DOMAIN_ID"])
-        if not 0 < control_center_domain_id < 230:
+        inter_workcell_domain_id = int(os.environ["ROS_DOMAIN_ID"])
+        if not 0 < inter_workcell_domain_id < 230:
             log_msg += (
                 "ROS_DOMAIN_ID not within the range of 0 to 230, setting it to 0. \n"
             )
-            control_center_domain_id = 0
+            inter_workcell_domain_id = 0
 
     if use_zenoh_bridge.perform(context).lower() == "true":
         log_msg += "Using the zenoh bridge\n"
-        workcell_1_domain_id = control_center_domain_id + 1
-        workcell_2_domain_id = control_center_domain_id + 2
+        workcell_1_domain_id = inter_workcell_domain_id + 1
+        workcell_2_domain_id = inter_workcell_domain_id + 2
     else:
         log_msg += "Not using zenoh bridge\n"
         if (
@@ -73,15 +74,20 @@ def launch_setup(context, *args, **kwargs):
         ):
             print("To run both workcells, enable the Zenoh Bridge")
             sys.exit(1)
-        workcell_1_domain_id = control_center_domain_id
-        workcell_2_domain_id = control_center_domain_id
-    log_msg += f"Control Center has ROS_DOMAIN_ID {control_center_domain_id}\n"
+        workcell_1_domain_id = inter_workcell_domain_id
+        workcell_2_domain_id = inter_workcell_domain_id
+    log_msg += f"Inter-workcell has ROS_DOMAIN_ID {inter_workcell_domain_id}\n"
     if run_workcell_1.perform(context).lower() == "true":
         log_msg += f"Workcell 1 has ROS_DOMAIN_ID {workcell_1_domain_id}\n"
     if run_workcell_2.perform(context).lower() == "true":
         log_msg += f"Workcell 2 has ROS_DOMAIN_ID {workcell_2_domain_id}\n"
 
-    launch_control_center = GroupAction(
+    main_bt_filename = "main.xml"
+    if (use_rmf_transporter.perform(context).lower() == "true"):
+        main_bt_filename = "main_rmf.xml"
+    log_msg += f"System Orchestrator will load : {main_bt_filename}\n"
+
+    launch_inter_workcell = GroupAction(
         actions=[
             IncludeLaunchDescription(
                 [
@@ -89,17 +95,19 @@ def launch_setup(context, *args, **kwargs):
                         [
                             FindPackageShare("nexus_integration_tests"),
                             "launch",
-                            "control_center.launch.py",
+                            "inter_workcell.launch.py",
                         ]
                     )
                 ],
                 launch_arguments={
-                    "ros_domain_id": str(control_center_domain_id),
+                    "ros_domain_id": str(inter_workcell_domain_id),
                     "zenoh_config_package": "nexus_integration_tests",
                     "zenoh_config_filename": "config/zenoh/system_orchestrator.json5",
+                    "use_rmf_transporter": use_rmf_transporter,
                     "transporter_plugin": "nexus_transporter::MockTransporter",
                     "activate_system_orchestrator": headless,
                     "headless": headless,
+                    "main_bt_filename": main_bt_filename,
                 }.items(),
             ),
         ],
@@ -193,7 +201,7 @@ def launch_setup(context, *args, **kwargs):
 
     return [
         LogInfo(msg=log_msg),
-        launch_control_center,
+        launch_inter_workcell,
         launch_workcell_1,
         launch_workcell_2,
     ]
@@ -207,6 +215,12 @@ def generate_launch_description():
                 default_value="true",
                 description="Launch in headless mode (no gui)",
             ),
+            DeclareLaunchArgument(
+                "use_rmf_transporter",
+                default_value="false",
+                description="Set true to rely on an Open-RMF managed fleet to transport material\
+                between workcells.",
+            ),
             DeclareLaunchArgument(
                 "use_zenoh_bridge",
                 default_value="true",
diff --git a/nexus_integration_tests/launch/rmf/common.launch.xml b/nexus_integration_tests/launch/rmf/common.launch.xml
deleted file mode 100644
index 8e928b6..0000000
--- a/nexus_integration_tests/launch/rmf/common.launch.xml
+++ /dev/null
@@ -1,37 +0,0 @@
-<?xml version='1.0' ?>
-
-<launch>
-  <arg name="use_sim_time" default="false" description="Use the /clock topic for time to sync with simulation"/>
-  <arg name="config_file" description="Building description file required by rmf_building_map_tools"/>
-  <arg name="initial_map" default="L1" description="Initial map name for the visualizer"/>
-  <arg name="bidding_time_window" description="Time window in seconds for task bidding process" default="2.0"/>
-  <arg name="use_unique_hex_string_with_task_id" default="true" description="Appends a unique hex string to the task ID"/>
-  <arg name="server_uri" default="" description="The URI of the api server to transmit state and task information."/>
-
-  <!-- Traffic Schedule  -->
-  <node pkg="rmf_traffic_ros2" exec="rmf_traffic_schedule" output="both" name="rmf_traffic_schedule_primary">
-    <param name="use_sim_time" value="$(var use_sim_time)"/>
-  </node>
-
-  <!-- Blockade Moderator -->
-  <node pkg="rmf_traffic_ros2" exec="rmf_traffic_blockade" output="both">
-    <param name="use_sim_time" value="$(var use_sim_time)"/>
-  </node>
-
-  <!-- Building Map  -->
-  <group>
-    <node pkg="rmf_building_map_tools" exec="building_map_server" args="$(var config_file)">
-      <param name="use_sim_time" value="$(var use_sim_time)"/>
-    </node>
-  </group>
-
-  <!-- Dispatcher Node -->
-  <group>
-    <node pkg="rmf_task_ros2" exec="rmf_task_dispatcher"  output="screen">
-      <param name="use_sim_time" value="$(var use_sim_time)"/>
-      <param name="bidding_time_window" value="$(var bidding_time_window)"/>
-      <param name="use_unique_hex_string_with_task_id" value="$(var use_unique_hex_string_with_task_id)"/>
-      <param name="server_uri" value="$(var server_uri)"/>
-    </node>
-  </group>
-</launch>
diff --git a/nexus_integration_tests/launch/rmf/simulation.launch.xml b/nexus_integration_tests/launch/rmf/simulation.launch.xml
deleted file mode 100644
index d6cb172..0000000
--- a/nexus_integration_tests/launch/rmf/simulation.launch.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-<?xml version='1.0' ?>
-
-<launch>
-  <arg name="world_path" description="Path of the world to simulate" />
-  <arg name="sim_update_rate" default='100'/>
-
-  <let name="gz_headless" if="$(var headless)" value="-s"/>
-  <let name="gz_headless" unless="$(var headless)" value="" />
-
-  <executable cmd="gz sim $(var gz_headless) -r -v 3 $(var world_path) -z $(var sim_update_rate)" output="both">
-    <env name="GZ_SIM_SYSTEM_PLUGIN_PATH" value="$(find-pkg-prefix rmf_robot_sim_gz_plugins)/lib/rmf_robot_sim_gz_plugins"/>
-  </executable>
-
-  <!-- ros_gz bridge for simulation clock -->
-  <node pkg="ros_gz_bridge" exec="parameter_bridge"
-    args="/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock"
-    />
-
-</launch>
diff --git a/nexus_integration_tests/launch/rmf_transporter.launch.xml b/nexus_integration_tests/launch/rmf_transporter.launch.xml
new file mode 100644
index 0000000..7b66c9e
--- /dev/null
+++ b/nexus_integration_tests/launch/rmf_transporter.launch.xml
@@ -0,0 +1,77 @@
+<?xml version='1.0' ?>
+
+<launch>
+  <arg name="bidding_time_window" description="Time window in seconds for task bidding process" default="2.0"/>
+  <arg name="gz_world_path" default="$(find-pkg-share nexus_integration_tests)/config/rmf/depot.world" description="Building description file required by rmf_building_map_tools"/>
+  <arg name="initial_map" default="L1" description="Initial map name for the visualizer"/>
+  <arg name="rmf_building_config" default="$(find-pkg-share nexus_integration_tests)/config/rmf/depot.building.yaml" description="Building description file required by rmf_building_map_tools"/>
+  <arg name="server_uri" default="" description="The URI of the api server to transmit state and task information."/>
+  <arg name="sim_update_rate" default='100'/>
+  <arg name="headless" default="true"/>
+  <arg name="use_simulator" default="true"/>
+  <arg name="use_unique_hex_string_with_task_id" default="true" description="Appends a unique hex string to the task ID"/>
+
+  <!-- Traffic Schedule  -->
+  <node pkg="rmf_traffic_ros2" exec="rmf_traffic_schedule" output="both" name="rmf_traffic_schedule_primary">
+    <param name="use_sim_time" value="$(var use_simulator)"/>
+  </node>
+
+  <!-- Blockade Moderator -->
+  <node pkg="rmf_traffic_ros2" exec="rmf_traffic_blockade" output="both">
+    <param name="use_sim_time" value="$(var use_simulator)"/>
+  </node>
+
+  <!-- Building Map  -->
+  <group>
+    <node pkg="rmf_building_map_tools" exec="building_map_server" args="$(var rmf_building_config)">
+      <param name="use_sim_time" value="$(var use_simulator)"/>
+    </node>
+  </group>
+
+  <!-- Visualizer -->
+  <group>
+    <include file="$(find-pkg-share rmf_visualization)/visualization.launch.xml">
+      <arg name="use_sim_time" value="$(var use_simulator)"/>
+      <arg name="map_name" value="$(var initial_map)"/>
+      <arg name="headless" value="true"/>
+    </include>
+  </group>
+
+  <!-- Dispatcher Node -->
+  <group>
+    <node pkg="rmf_task_ros2" exec="rmf_task_dispatcher"  output="screen">
+      <param name="use_sim_time" value="$(var use_simulator)"/>
+      <param name="bidding_time_window" value="$(var bidding_time_window)"/>
+      <param name="use_unique_hex_string_with_task_id" value="$(var use_unique_hex_string_with_task_id)"/>
+      <param name="server_uri" value="$(var server_uri)"/>
+    </node>
+  </group>
+
+  <!-- DeliveryRobot fleet adapter -->
+  <group>
+    <include file="$(find-pkg-share rmf_demos_fleet_adapter)/launch/fleet_adapter.launch.xml">
+      <arg name="use_sim_time" value="$(var use_simulator)"/>
+      <arg name="nav_graph_file" value="$(find-pkg-share nexus_integration_tests)/config/rmf/nav_graphs/0.yaml" />
+      <arg name="config_file" value="$(find-pkg-share nexus_integration_tests)/config/rmf/deliveryRobot_config.yaml"/>
+    </include>
+  </group>
+
+  <node pkg="nexus_workcell_orchestrator" exec="nexus_workcell_orchestrator" name="rmf_nexus_transporter" output="both">
+    <param name="capabilities" value="[nexus::capabilities::RMFRequestCapability]"/>
+    <param name="bt_path" value="$(find-pkg-share nexus_integration_tests)/config/rmf"/>
+  </node>
+
+  <!-- Simulator launch -->
+  <let name="gz_headless" if="$(var headless)" value="-s"/>
+  <let name="gz_headless" unless="$(var headless)" value="" />
+
+  <executable if="$(var use_simulator)" cmd="gz sim $(var gz_headless) -r -v 3 $(var gz_world_path) -z $(var sim_update_rate)" output="both">
+    <env name="GZ_SIM_SYSTEM_PLUGIN_PATH" value="$(find-pkg-prefix rmf_robot_sim_gz_plugins)/lib/rmf_robot_sim_gz_plugins"/>
+  </executable>
+
+  <!-- ros_gz bridge for simulation clock -->
+  <node if="$(var use_simulator)" pkg="ros_gz_bridge" exec="parameter_bridge"
+    args="/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock"
+    />
+
+</launch>
diff --git a/nexus_integration_tests/package.xml b/nexus_integration_tests/package.xml
index 59117b5..3459225 100644
--- a/nexus_integration_tests/package.xml
+++ b/nexus_integration_tests/package.xml
@@ -36,14 +36,26 @@
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
   <exec_depend>launch_xml</exec_depend>
+
+  <!-- Nexus dependencies. -->
   <exec_depend>nexus_capabilities</exec_depend>
   <exec_depend>nexus_motion_planner</exec_depend>
   <exec_depend>nexus_rviz_plugins</exec_depend>
   <exec_depend>nexus_system_orchestrator</exec_depend>
   <exec_depend>nexus_workcell_orchestrator</exec_depend>
   <exec_depend>nexus_zenoh_bridge_dds_vendor</exec_depend>
+
+  <!-- Open-RMF dependencies. -->
+  <exec_depend>rmf_building_map_tools</exec_depend>
   <exec_depend>rmf_demos_fleet_adapter</exec_depend>
   <exec_depend>rmf_robot_sim_gz_plugins</exec_depend>
+  <exec_depend>rmf_task_ros2</exec_depend>
+  <exec_depend>rmf_traffic_ros2</exec_depend>
+  <exec_depend>rmf_visualization</exec_depend>
+
+  <!-- Simulation dependencies. -->
+  <exec_depend>gz_sim_vendor</exec_depend>
+  <exec_depend>ros_gz_bridge</exec_depend>
 
   <test_depend>ament_cmake_catch2</test_depend>
   <test_depend>ament_index_cpp</test_depend>
diff --git a/nexus_integration_tests/rviz/nexus_panel_rmf.rviz b/nexus_integration_tests/rviz/nexus_panel_rmf.rviz
new file mode 100644
index 0000000..d2cbafc
--- /dev/null
+++ b/nexus_integration_tests/rviz/nexus_panel_rmf.rviz
@@ -0,0 +1,251 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 138
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /MarkerArray1
+        - /MarkerArray1/Topic1
+        - /MarkerArray2
+        - /MarkerArray2/Topic1
+        - /MarkerArray3
+        - /MarkerArray3/Topic1
+        - /MarkerArray4
+        - /MarkerArray4/Topic1
+        - /Map1
+        - /Map1/Status1
+        - /Map1/Topic1
+      Splitter Ratio: 0.5
+    Tree Height: 226
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+  - Class: nexus_rviz_plugins/NEXUSPanel
+    Name: NEXUSPanel
+  - Class: rmf_visualization_rviz2_plugins/SchedulePanel
+    Finish: 600
+    Map: L1
+    Name: SchedulePanel
+    Topic: /rmf_visualization/parameters
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 600
+      Frames:
+        All Enabled: true
+        deliveryRobot1/base_link:
+          Value: true
+        deliveryRobot2/base_link:
+          Value: true
+        world:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        world:
+          deliveryRobot1/base_link:
+            {}
+          deliveryRobot2/base_link:
+            {}
+      Update Interval: 0
+      Value: true
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: MarkerArray
+      Namespaces:
+        body: true
+        name: true
+        nose: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /fleet_markers
+      Value: true
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: MarkerArray
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /schedule_markers
+      Value: true
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: MarkerArray
+      Namespaces:
+        deliveryRobot/labels/L1: true
+        deliveryRobot/lanes/L1: true
+        deliveryRobot/waypoints/L1: true
+      Topic:
+        Depth: 5
+        Durability Policy: Transient Local
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map_markers
+      Value: true
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: MarkerArray
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Transient Local
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /building_systems_markers
+      Value: true
+    - Alpha: 0.699999988079071
+      Binary representation: false
+      Binary threshold: 100
+      Class: rviz_default_plugins/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic:
+        Depth: 5
+        Durability Policy: Transient Local
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /floorplan
+      Update Topic:
+        Depth: 5
+        Durability Policy: Transient Loca
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /floorplan_updates
+      Use Timestamp: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Angle: 0.005000006407499313
+      Class: rviz_default_plugins/TopDownOrtho
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Scale: 30.049789428710938
+      Target Frame: <Fixed Frame>
+      Value: TopDownOrtho (rviz_default_plugins)
+      X: 15.933613777160645
+      Y: -7.778347492218018
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 932
+  Hide Left Dock: false
+  Hide Right Dock: true
+  NEXUSPanel:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000019400000304fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc0000003f000001ac000000cc00fffffffa000000010100000002fb000000120046004d004d005300500061006e0065006c0100000000ffffffff0000000000000000fb000000100044006900730070006c0061007900730100000000000001780000015600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000471000000e10000000000000000fb0000000a0049006d00610067006501000002e6000000950000000000000000fc000001f100000152000001120100001efa000000010100000002fb00000014004e004500580055005300500061006e0065006c010000000000000194000000e200fffffffb0000001a005300630068006500640075006c006500500061006e0065006c0100000000ffffffff0000019400ffffff000000010000012e0000033efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000033e000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004f20000003cfc0100000002fb0000000800540069006d00650100000000000004f20000027b00fffffffb0000000800540069006d00650100000000000004500000000000000000000003580000030400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  SchedulePanel:
+    collapsed: false
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1266
+  X: 1081
+  Y: 67