cloisim_ros (humble version)

ROS2 simulation device packages to connect CLOiSim(the unity3D based multi-robot simulator).

Download CLOiSim Simulator

• Latest version: link
• All Releases: link

Install ROS2 humble

follow the guideline on below link.

https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html

Prerequisite

sudo apt update
sudo apt install -y python3-rosdep
sudo rosdep init
rosdep update
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble

Build

Set up ROS2 environment first

source /opt/ros2/humble/setup.bash
colcon build --symlink-install --packages-up-to cloisim_ros_bringup

Usage

Set environment variable, if the server is not localhost

export CLOISIM_BRIDGE_IP='xxx.xxx.xxx.xxx'
export CLOISIM_SERVICE_PORT=8080

check here details for bring-up guide

Run cloisim_ros (robot + world)

Shared Memory DDS with FastRTPS

It's experimental feature for cloisim_ros. Use absolute path in FASTRTPS_DEFAULT_PROFILES_FILE environment variable.

For example,

export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export FASTRTPS_DEFAULT_PROFILES_FILE=/home/cloi/src/cloisim_ros/fastrtps_shared_profile.xml

Turn off single mode(=multi robot mode)

Apply namespaceas each robot as a multi robot mode.

Strongly recommend to use this method.

ros2 launch cloisim_ros_bringup bringup.launch.py

or

ros2 launch cloisim_ros_bringup bringup.launch.py single_mode:=False

Turn on single Mode

It shall NOT be applied namespace for robot and the number of robot must BE single in world environment.

ros2 launch cloisim_ros_bringup bringup.launch.py single_mode:=True

Running CLOiSim

It provides a script to run CLOiSim easily.

ros2 launch cloisim_ros_bringup cloisim.launch.py sim_path:=/opt/CLOiSim/CLOiSim-2.2.0 world:=lg_seocho.world

Using Docker

Run below command after clone this repository(this branch).

Build Docker image

git clone https://github.com/lge-ros2/cloisim_ros.git -b humble
cd cloisim_ros
docker build -t cloisim_ros .

Running container

You can add possible parameters as described above. ex) target_model, target_parts_type or target_parts_name

multi robot mode

docker run -it --rm --net=host -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID cloisim_ros

single robot mode

docker run -it --rm --net=host -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID cloisim_ros single_mode:=True

multi robot mode with default network driver(bridge)

docker run -it --rm -e CLOISIM_BRIDGE_IP='192.168.0.125' -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID cloisim_ros

single robot mode with default network driver(bridge)

docker run -it --rm -e CLOISIM_BRIDGE_IP='192.168.0.125' -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID cloisim_ros single_mode:=True

You can set bridge ip using below command.

export CLOISIM_BRIDGE_IP=$(ip addr show dev docker0 | grep "inet" | awk 'NR==1{print $2}' | cut -d'/' -f 1)
echo $CLOISIM_BRIDGE_IP
docker run -it --rm -e CLOISIM_BRIDGE_IP=$CLOISIM_BRIDGE_IP -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID cloisim_ros

Version info

• Please refer to each branch for ROS2 distro-version you want
  • humble
  • foxy
  • dashing