diff --git a/search/search_index.json b/search/search_index.json
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--- a/search/search_index.json
+++ b/search/search_index.json
@@ -1 +1 @@
-{"config":{"lang":["en"],"separator":"[\\s\\-]+","pipeline":["stopWordFilter"]},"docs":[{"location":"","title":"Introduction","text":"This repository provides utilities to use Isaac Sim like Gazebo classic.
"},{"location":"#features","title":"Features","text":" - This spawns URDF model at the desired timing and position.
- This provide ros2_control plugin to use ros2_controller, for example diff_drive_controller.
- This supports rotational and prismatic joints using position and velocity control.
- This sends joint status (position, velocity and effort) to ros2_control from Isaac Sim.
- This launches sensors from URDF description.
- This launchs sensors and controller at the desired timing.
"},{"location":"#system-requirements","title":"System Requirements","text":"Element Minimum Spec OS Ubuntu 22.04 CPU Intel Core i7 (7th Generation) AMD Ryzen 5 Cores 4 RAM 32GB Storage 50GB SSD GPU GeForce RTX 2070 VRAM 8GB ROS 2 Humble Please refer to Isaac Sim System Requirements.
"},{"location":"#demo","title":"Demo","text":"This sample repository provides demonstlations for mobile robot and arm robot.
Please check following documents.
For Mobile Robot
For Arm Robot
"},{"location":"#how-to-use","title":"How to Use","text":"Check this tutorial.
"},{"location":"#license","title":"LICENSE","text":"This repository is provided with MIT license. Please refer to this.
"},{"location":"LICENSE/","title":"LICENCE","text":"MIT License\n\nCopyright (c) 2024 Masaaki Hijikata\n\nPermission is hereby granted, free of charge, to any person obtaining a copy\nof this software and associated documentation files (the \"Software\"), to deal\nin the Software without restriction, including without limitation the rights\nto use, copy, modify, merge, publish, distribute, sublicense, and/or sell\ncopies of the Software, and to permit persons to whom the Software is\nfurnished to do so, subject to the following conditions:\n\nThe above copyright notice and this permission notice shall be included in all\ncopies or substantial portions of the Software.\n\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\nAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\nLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\nOUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\nSOFTWARE.\n
"},{"location":"Demos/demo_for_arm_robot/","title":"Demo For Arm Robot","text":" -
Install Docker and pull Isaac Sim Docker Image.
-
Clone the repo to your ros2 workspace bash git clone https://github.com/hijimasa/isaac-ros2-control-sample.git
-
Get git submodules bash cd isaac-ros2-control-sample git submodule update --init --recursive
-
Build a docker image with shell script. bash cd docker ./build_docker_image.sh
-
Launch a docker container bash ./launch_docker.sh
-
Build ros2 source codes bash colcon build && source install/setup.bash
-
Launch simulator bash ros2 run isaac_ros2_scripts launcher
-
To spawn robot (another terminal) bash docker exec -it isaac-sim /bin/bash ros2 launch franka_moveit_config demo.launch.py You can control the robot from RViz.
[!NOTE] For the first time, launching Isaac Sim takes a very long time. Isaac Sim must be fully launched to spawn the robot.
"},{"location":"Demos/demo_for_mobile_robot/","title":"Demo For Mobile Robot","text":" -
Install Docker and pull Isaac Sim Docker Image.
-
Clone the repo to your ros2 workspace bash git clone https://github.com/hijimasa/isaac-ros2-control-sample.git
-
Get git submodules bash cd isaac-ros2-control-sample git submodule update --init --recursive
-
Build a docker image with shell script. bash cd docker ./build_docker_image.sh
-
Launch a docker container bash ./launch_docker.sh
-
Build ros2 source codes bash colcon build && source install/setup.bash
-
Launch simulator bash ros2 run isaac_ros2_scripts launcher
-
Spawn robot (another terminal) bash docker exec -it isaac-sim /bin/bash ros2 launch isaac_diffbot_sim diffbot_spawn.launch.py
-
Launch teleop_twist_keyboard (another terminal) bash docker exec -it isaac-sim /bin/bash ros2 run teleop_twist_keyboard teleop_twist_keyboard
[!NOTE] For the first time, launching Isaac Sim takes a very long time. Isaac Sim must be fully launched to spawn the robot.
"},{"location":"Tutorials/setup_urdf_for_ros2_control/","title":"Set up URDF for ros2_control","text":""},{"location":"Tutorials/setup_urdf_for_ros2_control/#introduction-to-ros2_control","title":"Introduction to ros2_control","text":"The ros2_control offers a developers a common API that allows your software to switch between many different robot types, and the sensors they have built in, by simply changing some launch arguments. For example if we inspect the Panda Robot\u2019s ros2_control.xacro we can see it uses a flag use_fake_hardware to switch between being simulated or connecting to a physical robot.
<hardware>\n <xacro:if value=\"${use_fake_hardware}\">\n <plugin>mock_components/GenericSystem</plugin>\n </xacro:if>\n <xacro:unless value=\"${use_fake_hardware}\">\n <plugin>franka_hardware/FrankaHardwareInterface</plugin>\n <param name=\"robot_ip\">${robot_ip}</param>\n </xacro:unless>\n</hardware>\n
Hardware Components can be of different types, but the plugin \"mock_components/GenericSystem\" is very a simple System that forwards the incoming command_interface values to the tracked state_interface of the joints (i.e., perfect control of the simulated joints).
To use ros2_control with Isaac Sim, we have to introduce isaac_ros2_control. This Hardware Interface is a System that read / write joint state / command from shared memory. There is another method using topic_based_ros2_control, but this one did not work well with mobile robots due to problems with positional commands. isaac_ros2_control retrieves the shared memory associated with the name attribute of the robot tag and reads and writes information about the joint. Therefore, when operating multiple robots, it is necessary to change the name attribute value of the robot tag of the URDF to be read. The following is an example of introducing isaac_ros2_control.
<hardware>\n <xacro:if value=\"${use_fake_hardware}\">\n <plugin>fake_components/GenericSystem</plugin>\n </xacro:if>\n <xacro:if value=\"${use_sim}\">\n <plugin>isaac_ros2_control/IsaacSystem</plugin>\n </xacro:if>\n</hardware>\n
"},{"location":"Tutorials/setup_urdf_for_ros2_control/#set-up-joint-information","title":"Set up Joint Information","text":"Within the ros2_control tag in the URDF, joint information must be included in addition to the ros2_control plugin information. The following is an example of description of joint information.
<joint>\n <command_interface name=\"velocity\">\n <param name=\"min\">-1</param>\n <param name=\"max\"> 1</param>\n </command_interface>\n <state_interface name=\"position\"/>\n <state_interface name=\"velocity\"/>\n <state_interface name=\"effort\"/>\n</joint>\n
Note that the joint information used in isaac_ros2_control must contain one command_interface (position or velocity) and three state_interface (position and velocity and effort).
"},{"location":"Tutorials/tutorial/","title":"Tutorials","text":" -
Set up URDF for ros2_control
-
Set up URDF for Sensors
-
How to Use Simulator Launcher
-
How to Spawn Robot
-
How to Launch ros2_control
-
How to Launch Sensors
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<hardware>\n <xacro:if value=\"${use_fake_hardware}\">\n <plugin>mock_components/GenericSystem</plugin>\n </xacro:if>\n <xacro:unless value=\"${use_fake_hardware}\">\n <plugin>franka_hardware/FrankaHardwareInterface</plugin>\n <param name=\"robot_ip\">${robot_ip}</param>\n </xacro:unless>\n</hardware>\n
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<hardware>\n <xacro:if value=\"${use_fake_hardware}\">\n <plugin>fake_components/GenericSystem</plugin>\n </xacro:if>\n <xacro:if value=\"${use_sim}\">\n <plugin>isaac_ros2_control/IsaacSystem</plugin>\n </xacro:if>\n</hardware>\n
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<joint name=\"${prefix}left_wheel_joint\">\n <command_interface name=\"velocity\">\n <param name=\"min\">-1</param>\n <param name=\"max\"> 1</param>\n </command_interface>\n <state_interface name=\"position\"/>\n <state_interface name=\"velocity\"/>\n <state_interface name=\"effort\"/>\n</joint>\n
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"},{"location":"ja/%E3%83%87%E3%83%A2/demo_for_arm_robot/","title":"\u30a2\u30fc\u30e0\u30ed\u30dc\u30c3\u30c8\u5411\u3051\u30c7\u30e2","text":" -
Install Docker and pull Isaac Sim Docker Image.
-
Clone the repo to your ros2 workspace bash git clone https://github.com/hijimasa/isaac-ros2-control-sample.git
-
Get git submodules bash cd isaac-ros2-control-sample git submodule update --init --recursive
-
Build a docker image with shell script. bash cd docker ./build_docker_image.sh
-
Launch a docker container bash ./launch_docker.sh
-
Build ros2 source codes bash colcon build && source install/setup.bash
-
Launch simulator bash ros2 run isaac_ros2_scripts launcher
-
To spawn robot (another terminal) bash docker exec -it isaac-sim /bin/bash ros2 launch franka_moveit_config demo.launch.py You can control the robot from RViz.
[!NOTE] For the first time, launching Isaac Sim takes a very long time. Isaac Sim must be fully launched to spawn the robot.
"},{"location":"ja/%E3%83%87%E3%83%A2/demo_for_mobile_robot/","title":"\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u5411\u3051\u30c7\u30e2","text":" -
Install Docker and pull Isaac Sim Docker Image.
-
Clone the repo to your ros2 workspace bash git clone https://github.com/hijimasa/isaac-ros2-control-sample.git
-
Get git submodules bash cd isaac-ros2-control-sample git submodule update --init --recursive
-
Build a docker image with shell script. bash cd docker ./build_docker_image.sh
-
Launch a docker container bash ./launch_docker.sh
-
Build ros2 source codes bash colcon build && source install/setup.bash
-
Launch simulator bash ros2 run isaac_ros2_scripts launcher
-
Spawn robot (another terminal) bash docker exec -it isaac-sim /bin/bash ros2 launch isaac_diffbot_sim diffbot_spawn.launch.py
-
Launch teleop_twist_keyboard (another terminal) bash docker exec -it isaac-sim /bin/bash ros2 run teleop_twist_keyboard teleop_twist_keyboard
[!NOTE] For the first time, launching Isaac Sim takes a very long time. Isaac Sim must be fully launched to spawn the robot.
"}]}
\ No newline at end of file
+{"config":{"lang":["en"],"separator":"[\\s\\-]+","pipeline":["stopWordFilter"]},"docs":[{"location":"","title":"Introduction","text":"This repository provides utilities to use Isaac Sim like Gazebo classic.
"},{"location":"#features","title":"Features","text":" - This spawns URDF model at the desired timing and position.
- This provide ros2_control plugin to use ros2_controller, for example diff_drive_controller.
- This supports rotational and prismatic joints using position and velocity control.
- This sends joint status (position, velocity and effort) to ros2_control from Isaac Sim.
- This launches sensors from URDF description.
- This launchs sensors and controller at the desired timing.
"},{"location":"#system-requirements","title":"System Requirements","text":"Element Minimum Spec OS Ubuntu 22.04 CPU Intel Core i7 (7th Generation) AMD Ryzen 5 Cores 4 RAM 32GB Storage 50GB SSD GPU GeForce RTX 2070 VRAM 8GB ROS 2 Humble Please refer to Isaac Sim System Requirements.
"},{"location":"#demo","title":"Demo","text":"This sample repository provides demonstlations for mobile robot and arm robot.
Please check following documents.
For Mobile Robot
For Arm Robot
"},{"location":"#how-to-use","title":"How to Use","text":"Check this tutorial.
"},{"location":"#license","title":"LICENSE","text":"This repository is provided with MIT license. Please refer to this.
"},{"location":"LICENSE/","title":"LICENSE","text":"MIT License\n\nCopyright (c) 2024 Masaaki Hijikata\n\nPermission is hereby granted, free of charge, to any person obtaining a copy\nof this software and associated documentation files (the \"Software\"), to deal\nin the Software without restriction, including without limitation the rights\nto use, copy, modify, merge, publish, distribute, sublicense, and/or sell\ncopies of the Software, and to permit persons to whom the Software is\nfurnished to do so, subject to the following conditions:\n\nThe above copyright notice and this permission notice shall be included in all\ncopies or substantial portions of the Software.\n\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\nAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\nLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\nOUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\nSOFTWARE.\n
"},{"location":"Demos/demo_for_arm_robot/","title":"Demo For Arm Robot","text":" -
Install Docker and pull Isaac Sim Docker Image.
-
Clone the repo to your ros2 workspace bash git clone https://github.com/hijimasa/isaac-ros2-control-sample.git
-
Get git submodules bash cd isaac-ros2-control-sample git submodule update --init --recursive
-
Build a docker image with shell script. bash cd docker ./build_docker_image.sh
-
Launch a docker container bash ./launch_docker.sh
-
Build ros2 source codes bash colcon build && source install/setup.bash
-
Launch simulator bash ros2 run isaac_ros2_scripts launcher
-
To spawn robot (another terminal) bash docker exec -it isaac-sim /bin/bash ros2 launch franka_moveit_config demo.launch.py You can control the robot from RViz.
[!NOTE] For the first time, launching Isaac Sim takes a very long time. Isaac Sim must be fully launched to spawn the robot.
"},{"location":"Demos/demo_for_mobile_robot/","title":"Demo For Mobile Robot","text":" -
Install Docker and pull Isaac Sim Docker Image.
-
Clone the repo to your ros2 workspace bash git clone https://github.com/hijimasa/isaac-ros2-control-sample.git
-
Get git submodules bash cd isaac-ros2-control-sample git submodule update --init --recursive
-
Build a docker image with shell script. bash cd docker ./build_docker_image.sh
-
Launch a docker container bash ./launch_docker.sh
-
Build ros2 source codes bash colcon build && source install/setup.bash
-
Launch simulator bash ros2 run isaac_ros2_scripts launcher
-
Spawn robot (another terminal) bash docker exec -it isaac-sim /bin/bash ros2 launch isaac_diffbot_sim diffbot_spawn.launch.py
-
Launch teleop_twist_keyboard (another terminal) bash docker exec -it isaac-sim /bin/bash ros2 run teleop_twist_keyboard teleop_twist_keyboard
[!NOTE] For the first time, launching Isaac Sim takes a very long time. Isaac Sim must be fully launched to spawn the robot.
"},{"location":"Tutorials/setup_urdf_for_ros2_control/","title":"Set up URDF for ros2_control","text":""},{"location":"Tutorials/setup_urdf_for_ros2_control/#introduction-to-ros2_control","title":"Introduction to ros2_control","text":"The ros2_control offers a developers a common API that allows your software to switch between many different robot types, and the sensors they have built in, by simply changing some launch arguments. For example if we inspect the Panda Robot\u2019s ros2_control.xacro we can see it uses a flag use_fake_hardware to switch between being simulated or connecting to a physical robot.
<hardware>\n <xacro:if value=\"${use_fake_hardware}\">\n <plugin>mock_components/GenericSystem</plugin>\n </xacro:if>\n <xacro:unless value=\"${use_fake_hardware}\">\n <plugin>franka_hardware/FrankaHardwareInterface</plugin>\n <param name=\"robot_ip\">${robot_ip}</param>\n </xacro:unless>\n</hardware>\n
Hardware Components can be of different types, but the plugin \"mock_components/GenericSystem\" is very a simple System that forwards the incoming command_interface values to the tracked state_interface of the joints (i.e., perfect control of the simulated joints).
To use ros2_control with Isaac Sim, we have to introduce isaac_ros2_control. This Hardware Interface is a System that read / write joint state / command from shared memory. There is another method using topic_based_ros2_control, but this one did not work well with mobile robots due to problems with positional commands. isaac_ros2_control retrieves the shared memory associated with the name attribute of the robot tag and reads and writes information about the joint. Therefore, when operating multiple robots, it is necessary to change the name attribute value of the robot tag of the URDF to be read. The following is an example of introducing isaac_ros2_control.
<hardware>\n <xacro:if value=\"${use_fake_hardware}\">\n <plugin>fake_components/GenericSystem</plugin>\n </xacro:if>\n <xacro:if value=\"${use_sim}\">\n <plugin>isaac_ros2_control/IsaacSystem</plugin>\n </xacro:if>\n</hardware>\n
"},{"location":"Tutorials/setup_urdf_for_ros2_control/#set-up-joint-information","title":"Set up Joint Information","text":"Within the ros2_control tag in the URDF, joint information must be included in addition to the ros2_control plugin information. The following is an example of description of joint information.
<joint>\n <command_interface name=\"velocity\">\n <param name=\"min\">-1</param>\n <param name=\"max\"> 1</param>\n </command_interface>\n <state_interface name=\"position\"/>\n <state_interface name=\"velocity\"/>\n <state_interface name=\"effort\"/>\n</joint>\n
Note that the joint information used in isaac_ros2_control must contain one command_interface (position or velocity) and three state_interface (position and velocity and effort).
"},{"location":"Tutorials/setup_urdf_for_sensors/","title":"Set up URDF for Sensors","text":"This document shows how to describe the information of a sensor running on Isaac Sim in the robot's URDF.
In Gazebo Classic, it was possible to generate sensors in the simulation by writing sensor information in the gazebo tag of the URDF. In this repository, the same functionality is achieved by describing sensor information in isaac tags. Below we show how to describe sensor information for LiDAR, cameras and depth cameras.
"},{"location":"Tutorials/setup_urdf_for_sensors/#description-of-lidar-information","title":"Description of LiDAR information","text":"The following is an example of LiDAR information.
<sensor name=\"lidar_link\" type=\"lidar\">\n <topic>scan</topic>\n <sensor_dimension_num>3</sensor_dimension_num> <!-- 2 or 3 -->\n <config>Example_Rotary</config>\n <!-- Config Example\n <config>Example_Rotary</config>\n <config>slamtec/RPLIDAR_S2E</config>\n <config>hokuyo/UST-30LX</config>\n -->\n</sensor>\n
As shown in the example above, the basic description is the same as for the gazebo tag, but you can see that the setting values have changed. sensor_dimension_num is the dimension of the point cloud to be acquired, and can be set to 2D or 3D. config can be a LiDAR configuration file. The LiDAR configuration file is located in \"exts/omni.isaac.sensor/data/lidar_configs\" in \"exts/omni.isaac.sensor/data/lidar_configs\" in the Isaac Sim reference directory (\"~/.local/share/ov/pkg/isaac_sim-2023.1.1/\" for native or \"/isaac-sim\" for Docker). Please add configuration files as needed.
"},{"location":"Tutorials/setup_urdf_for_sensors/#description-of-camera-information","title":"Description of Camera information","text":"The following is an example of camera information.
<sensor name=\"camera_link\" type=\"camera\">\n <topic>image_raw</topic>\n <horizontal_fov_rad>1.3962634</horizontal_fov_rad>\n <horizontal_focal_length>30</horizontal_focal_length> <!-- optical parameter -->\n <vertical_focal_length>30</vertical_focal_length> <!-- optical parameter -->\n <focus_distance>400</focus_distance> <!-- distance for clear image -->\n <projection>perspective</projection> <!-- perspective or orthgonal -->\n <image>\n <width>600</width>\n <height>600</height>\n </image>\n <clip>\n <near>0.02</near>\n <far>300</far>\n </clip>\n <update_rate>10.0</update_rate>\n</sensor>\n
"},{"location":"Tutorials/setup_urdf_for_sensors/#description-of-depth-camera-information","title":"Description of Depth Camera information","text":"The following is an example of depth camera information.
<sensor name=\"depth_camera_link\" type=\"depth_camera\">\n <topic>image_raw</topic>\n <horizontal_fov_rad>1.3962634</horizontal_fov_rad>\n <horizontal_focal_length>30</horizontal_focal_length> <!-- optical parameter -->\n <vertical_focal_length>30</vertical_focal_length> <!-- optical parameter -->\n <focus_distance>400</focus_distance> <!-- distance for clear image -->\n <projection>perspective</projection> <!-- perspective or orthgonal -->\n <image>\n <width>320</width>\n <height>240</height>\n </image>\n <clip>\n <near>0.1</near>\n <far>100</far>\n </clip>\n <update_rate>10</update_rate>\n</sensor>\n
"},{"location":"Tutorials/tutorial/","title":"Tutorials","text":" -
Set up URDF for ros2_control
-
Set up URDF for Sensors
-
How to Use Simulator Launcher
-
How to Spawn Robot
-
How to Launch ros2_control
-
How to Launch Sensors
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<hardware>\n <xacro:if value=\"${use_fake_hardware}\">\n <plugin>mock_components/GenericSystem</plugin>\n </xacro:if>\n <xacro:unless value=\"${use_fake_hardware}\">\n <plugin>franka_hardware/FrankaHardwareInterface</plugin>\n <param name=\"robot_ip\">${robot_ip}</param>\n </xacro:unless>\n</hardware>\n
\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2\u30fb\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8\u306b\u306f\u69d8\u3005\u306a\u30bf\u30a4\u30d7\u304c\u3042\u308a\u307e\u3059\u304c\u3001\u30d7\u30e9\u30b0\u30a4\u30f3 \"mock_components/GenericSystem \"\u306f\u3001\u5165\u529b\u3055\u308c\u305fcommand_interface\u306e\u5024\u3092\u3001\u95a2\u7bc0\u306e\u8ffd\u8de1\u3055\u308c\u305fstate_interface\u306b\u8ee2\u9001\u3059\u308b\uff08\u3064\u307e\u308a\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30c8\u3055\u308c\u305f\u95a2\u7bc0\u3092\u5b8c\u74a7\u306b\u5236\u5fa1\u3059\u308b\uff09\u975e\u5e38\u306b\u30b7\u30f3\u30d7\u30eb\u306a\u30b7\u30b9\u30c6\u30e0\u3067\u3059\u3002
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<hardware>\n <xacro:if value=\"${use_fake_hardware}\">\n <plugin>fake_components/GenericSystem</plugin>\n </xacro:if>\n <xacro:if value=\"${use_sim}\">\n <plugin>isaac_ros2_control/IsaacSystem</plugin>\n </xacro:if>\n</hardware>\n
"},{"location":"ja/%E3%83%81%E3%83%A5%E3%83%BC%E3%83%88%E3%83%AA%E3%82%A2%E3%83%AB/setup_urdf_for_ros2_control/#_1","title":"\u30b8\u30e7\u30a4\u30f3\u30c8\u60c5\u5831\u306e\u8a2d\u5b9a","text":"URDF\u306eros2_control\u30bf\u30b0\u5185\u306b\u306f\u3001\u4f7f\u7528\u3059\u308bros2_control\u30d7\u30e9\u30b0\u30a4\u30f3\u306e\u60c5\u5831\u306b\u52a0\u3048\u3066\u3001\u30b8\u30e7\u30a4\u30f3\u30c8\u306e\u60c5\u5831\u3092\u8a18\u8f09\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002 \u4ee5\u4e0b\u306f\u30b8\u30e7\u30a4\u30f3\u30c8\u60c5\u5831\u306e\u8a2d\u5b9a\u306e\u4f8b\u3067\u3059\u3002
<joint name=\"${prefix}left_wheel_joint\">\n <command_interface name=\"velocity\">\n <param name=\"min\">-1</param>\n <param name=\"max\"> 1</param>\n </command_interface>\n <state_interface name=\"position\"/>\n <state_interface name=\"velocity\"/>\n <state_interface name=\"effort\"/>\n</joint>\n
\u3053\u3053\u3067\u3001isaac_ros2_control\u3067\u4f7f\u7528\u3059\u308b\u30b8\u30e7\u30a4\u30f3\u30c8\u60c5\u5831\u306f\u3001command_interface\u3092\u4e00\u3064\uff08\u4f4d\u7f6e\u304b\u901f\u5ea6\uff09\u3068state_interface\u3092\uff13\u3064\uff08\u4f4d\u7f6e\u3001\u901f\u5ea6\u3001\u529b\uff09\u542b\u3093\u3067\u3044\u308b\u5fc5\u8981\u304c\u3042\u308b\u3053\u3068\u306b\u6ce8\u610f\u3057\u3066\u304f\u3060\u3055\u3044\u3002
"},{"location":"ja/%E3%83%81%E3%83%A5%E3%83%BC%E3%83%88%E3%83%AA%E3%82%A2%E3%83%AB/setup_urdf_for_sensors/","title":"URDF\u3078\u306e\u30bb\u30f3\u30b5\u60c5\u5831\u306e\u8a18\u8ff0\u65b9\u6cd5","text":"\u3053\u306e\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u3067\u306fIsaac Sim\u4e0a\u3067\u52d5\u4f5c\u3059\u308b\u30bb\u30f3\u30b5\u306e\u60c5\u5831\u3092\u30ed\u30dc\u30c3\u30c8\u306eURDF\u306b\u8a18\u8ff0\u3059\u308b\u65b9\u6cd5\u3092\u793a\u3057\u307e\u3059\u3002
Gazebo Classic\u3067\u306fURDF\u306egazebo\u30bf\u30b0\u306b\u30bb\u30f3\u30b5\u60c5\u5831\u3092\u8a18\u8f09\u3059\u308b\u3053\u3068\u3067\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u4e0a\u306b\u30bb\u30f3\u30b5\u3092\u751f\u6210\u3059\u308b\u3053\u3068\u304c\u51fa\u6765\u3066\u3044\u307e\u3057\u305f\u3002 \u305d\u3053\u3067\u3001\u3053\u306e\u30ea\u30dd\u30b8\u30c8\u30ea\u3067\u306fisaac\u30bf\u30b0\u306b\u30bb\u30f3\u30b5\u60c5\u5831\u3092\u8a18\u8f09\u3059\u308b\u3053\u3068\u3067\u3001\u540c\u69d8\u306e\u6a5f\u80fd\u3092\u5b9f\u73fe\u3057\u3066\u3044\u307e\u3059\u3002 \u4ee5\u4e0b\u3067\u306f\u3001LiDAR\u3001\u30ab\u30e1\u30e9\u304a\u3088\u3073\u30c7\u30d7\u30b9\u30ab\u30e1\u30e9\u306e\u30bb\u30f3\u30b5\u60c5\u5831\u306e\u8a18\u8ff0\u65b9\u6cd5\u306b\u3064\u3044\u3066\u793a\u3057\u307e\u3059\u3002
"},{"location":"ja/%E3%83%81%E3%83%A5%E3%83%BC%E3%83%88%E3%83%AA%E3%82%A2%E3%83%AB/setup_urdf_for_sensors/#lidar","title":"LiDAR\u60c5\u5831\u306e\u8a18\u8ff0","text":"\u4ee5\u4e0b\u306bLiDAR\u60c5\u5831\u306e\u4f8b\u3092\u793a\u3057\u307e\u3059\u3002
<sensor name=\"lidar_link\" type=\"lidar\">\n <topic>scan</topic>\n <sensor_dimension_num>3</sensor_dimension_num> <!-- 2 or 3 -->\n <config>Example_Rotary</config>\n <!-- Config Example\n <config>Example_Rotary</config>\n <config>slamtec/RPLIDAR_S2E</config>\n <config>hokuyo/UST-30LX</config>\n -->\n</sensor>\n
\u4e0a\u8a18\u306e\u4f8b\u306b\u3042\u308b\u3088\u3046\u306b\u3001\u57fa\u672c\u7684\u306a\u8a18\u8ff0\u65b9\u6cd5\u306fgazebo\u30bf\u30b0\u306e\u969b\u3068\u540c\u3058\u3067\u3059\u304c\u3001\u8a2d\u5b9a\u5024\u304c\u5909\u308f\u3063\u3066\u3044\u308b\u3053\u3068\u304c\u308f\u304b\u308a\u307e\u3059\u3002 sensor_dimension_num\u306f\u53d6\u5f97\u3059\u308b\u70b9\u7fa4\u306e\u6b21\u5143\u3067\u3001\uff12\u6b21\u5143\u307e\u305f\u306f\uff13\u6b21\u5143\u304c\u8a2d\u5b9a\u3067\u304d\u307e\u3059\u3002 config\u306b\u306f\u3001LiDAR\u306e\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u3092\u6307\u5b9a\u3067\u304d\u307e\u3059\u3002 LiDAR\u306e\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u306f\u3001Isaac Sim\u306e\u57fa\u6e96\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\uff08\u30cd\u30a4\u30c6\u30a3\u30d6\u306a\u3089\"~/.local/share/ov/pkg/isaac-sim_2023.1.1/\"\u3001Docker\u306a\u3089\"/isaac-sim\"\uff09\u5185\u306e\"exts/omni.isaac.sensor/data/lidar_configs\"\u306b\u3042\u308a\u307e\u3059\u3002 \u5fc5\u8981\u306e\u5fdc\u3058\u3066\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u3092\u8ffd\u52a0\u3057\u3066\u5bfe\u5fdc\u3057\u3066\u304f\u3060\u3055\u3044\u3002
"},{"location":"ja/%E3%83%81%E3%83%A5%E3%83%BC%E3%83%88%E3%83%AA%E3%82%A2%E3%83%AB/setup_urdf_for_sensors/#_1","title":"\u30ab\u30e1\u30e9\u60c5\u5831\u306e\u8a18\u8ff0","text":"\u4ee5\u4e0b\u306b\u30ab\u30e1\u30e9\u60c5\u5831\u306e\u4f8b\u3092\u793a\u3057\u307e\u3059\u3002
<sensor name=\"camera_link\" type=\"camera\">\n <topic>image_raw</topic>\n <horizontal_fov_rad>1.3962634</horizontal_fov_rad>\n <horizontal_focal_length>30</horizontal_focal_length> <!-- optical parameter -->\n <vertical_focal_length>30</vertical_focal_length> <!-- optical parameter -->\n <focus_distance>400</focus_distance> <!-- distance for clear image -->\n <projection>perspective</projection> <!-- perspective or orthgonal -->\n <image>\n <width>600</width>\n <height>600</height>\n </image>\n <clip>\n <near>0.02</near>\n <far>300</far>\n </clip>\n <update_rate>10.0</update_rate>\n</sensor>\n
"},{"location":"ja/%E3%83%81%E3%83%A5%E3%83%BC%E3%83%88%E3%83%AA%E3%82%A2%E3%83%AB/setup_urdf_for_sensors/#_2","title":"\u30c7\u30d7\u30b9\u30ab\u30e1\u30e9\u60c5\u5831\u306e\u8a18\u8ff0","text":"<sensor name=\"depth_camera_link\" type=\"depth_camera\">\n <topic>image_raw</topic>\n <horizontal_fov_rad>1.3962634</horizontal_fov_rad>\n <horizontal_focal_length>30</horizontal_focal_length> <!-- optical parameter -->\n <vertical_focal_length>30</vertical_focal_length> <!-- optical parameter -->\n <focus_distance>400</focus_distance> <!-- distance for clear image -->\n <projection>perspective</projection> <!-- perspective or orthgonal -->\n <image>\n <width>320</width>\n <height>240</height>\n </image>\n <clip>\n <near>0.1</near>\n <far>100</far>\n </clip>\n <update_rate>10</update_rate>\n</sensor>\n
"},{"location":"ja/%E3%83%81%E3%83%A5%E3%83%BC%E3%83%88%E3%83%AA%E3%82%A2%E3%83%AB/tutorial/","title":"\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb","text":" -
URDF\u3078\u306eros2_cotnrol\u30bf\u30b0\u306e\u8a18\u8ff0\u65b9\u6cd5
-
URDF\u3078\u306e\u30bb\u30f3\u30b5\u60c5\u5831\u306e\u8a18\u8ff0\u65b9\u6cd5
-
\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30e9\u30f3\u30c1\u30e3\u30fc\u306e\u4f7f\u3044\u65b9
-
\u30ed\u30dc\u30c3\u30c8\u306e\u751f\u6210\u65b9\u6cd5
-
ros2_control\u306e\u7acb\u3061\u4e0a\u3052\u65b9
-
\u30bb\u30f3\u30b5\u306e\u7acb\u3061\u4e0a\u3052\u65b9
"},{"location":"ja/%E3%83%87%E3%83%A2/demo_for_arm_robot/","title":"\u30a2\u30fc\u30e0\u30ed\u30dc\u30c3\u30c8\u5411\u3051\u30c7\u30e2","text":" -
Install Docker and pull Isaac Sim Docker Image.
-
Clone the repo to your ros2 workspace bash git clone https://github.com/hijimasa/isaac-ros2-control-sample.git
-
Get git submodules bash cd isaac-ros2-control-sample git submodule update --init --recursive
-
Build a docker image with shell script. bash cd docker ./build_docker_image.sh
-
Launch a docker container bash ./launch_docker.sh
-
Build ros2 source codes bash colcon build && source install/setup.bash
-
Launch simulator bash ros2 run isaac_ros2_scripts launcher
-
To spawn robot (another terminal) bash docker exec -it isaac-sim /bin/bash ros2 launch franka_moveit_config demo.launch.py You can control the robot from RViz.
[!NOTE] For the first time, launching Isaac Sim takes a very long time. Isaac Sim must be fully launched to spawn the robot.
"},{"location":"ja/%E3%83%87%E3%83%A2/demo_for_mobile_robot/","title":"\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u5411\u3051\u30c7\u30e2","text":" -
Install Docker and pull Isaac Sim Docker Image.
-
Clone the repo to your ros2 workspace bash git clone https://github.com/hijimasa/isaac-ros2-control-sample.git
-
Get git submodules bash cd isaac-ros2-control-sample git submodule update --init --recursive
-
Build a docker image with shell script. bash cd docker ./build_docker_image.sh
-
Launch a docker container bash ./launch_docker.sh
-
Build ros2 source codes bash colcon build && source install/setup.bash
-
Launch simulator bash ros2 run isaac_ros2_scripts launcher
-
Spawn robot (another terminal) bash docker exec -it isaac-sim /bin/bash ros2 launch isaac_diffbot_sim diffbot_spawn.launch.py
-
Launch teleop_twist_keyboard (another terminal) bash docker exec -it isaac-sim /bin/bash ros2 run teleop_twist_keyboard teleop_twist_keyboard
[!NOTE] For the first time, launching Isaac Sim takes a very long time. Isaac Sim must be fully launched to spawn the robot.
"}]}
\ No newline at end of file
diff --git a/sitemap.xml.gz b/sitemap.xml.gz
index cf2a050..e812598 100644
Binary files a/sitemap.xml.gz and b/sitemap.xml.gz differ