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JAOPS ROS2 Workspace

This folder includes packages and robot operation related software for JAOPS space robotics simulation.

Table of Contents

Getting Started

Before getting started, we assume that you have run through the main document of the JAOPS sim repository already.

Prerequisites

sudo apt install python3-rosdep, ros-dev-tools
sudo apt install ros-${ROS_DISTRO}-rosbag2-storage-mcap
  • Git LFS which can be installed as follows:
curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | sudo bash
sudo apt install git-lfs
git lfs install

(Note: If you have installed Git LFS after cloning this repo, you can run git lfs fetch followed by git lfs pull to download all the usd files which are referenced via git lfs)

Build & Install

  • Source ros2 to the terminal
source /opt/ros/humble/setup.bash
  • Install dependencies by rosdep
cd jaops-sim/src/ros2_ws/
sudo apt update
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -r -y
  • Install program
# In the same directory
colcon build --symlink-install
source install/setup.bash

Welcome to the Moon

  1. To launch the lunar surface simulation demo:
ros2 launch rover_isaac sim_demo.launch.py

Most common command line arguments:

Specify a specific isaacsim installation:

ros2 launch rover_isaac sim_demo.launch.py install_path:="~/isaacsim"

Specify a specific .usd:

ros2 launch rover_isaac sim_demo.launch.py gui:="~/jaops/jaops-sim/scenes/lunar_surface_demo_ros2.usd"

Star the simulation immediately after the environment is imported:

ros2 launch rover_isaac sim_demo.launch.py play_sim_on_start:=true

(see ros2 launch rover_isaac sim_demo.launch.py --show-args for all options)

  1. In another terminal, send commands to the rover to perform a rectangular trajectory motion:
ros2 launch rover_nav rectangle.launch.py side_length:=3.0 rounds:=1

Foxglove visualization

Prerequisites

Follow the ROS Foxglove bridge installation from official document.

sudo apt install ros-$ROS_DISTRO-foxglove-bridge

Usage

  • Open and play the simulation following the section above.

  • Launch the foxglove bridge by the following command.

ros2 launch rover_isaac foxglove_demo.launch.py
  • Open Foxglove with Websocket and import the layout for our simulation from here.

lunar_demo_foxglove.png

Rerun visualization

Prerequisites

Follow the python installation procedure in rerun.io official document.

pip3 install rerun-sdk

Create python environment

python3 -m venv venv
source venv/bin/active
(venv) $ pip install -r jaops-sim/src/ros2_ws/rerun_demo/requirements.txt

Usage

  • Open and play the simulation following the section.

  • Run the python script to launch rerun GUI

cd jaops-sim/src/ros2_ws/rerun_demo/
python3 lunar_demo_rerun.py

lunar_demo_rerun.png

Troubleshooting

Isaacsim doesn't start

If you have installed isaac-sim to a location other than the default you can enter the path using the install_path argument for sim_demo.launch.py

The Stage doesn't load

  • If you have cloned this repo to a location other than $HOME, you can enter the path using the gui argument for sim_demo.launch.py

  • Check that lunar_surface_demo.usd is not a pointer file. If it is, you may not have git lfs setup. See section

Please report bugs using Issue Tracker.