ROS Index
No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
|
|
Repository Summary
| Checkout URI | https://github.com/lge-ros2/cloisim_ros.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-03-17 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| cloisim_ros_actor | 4.7.1 |
| cloisim_ros_base | 4.7.1 |
| cloisim_ros_bridge_zmq | 4.7.1 |
| cloisim_ros_bringup | 4.7.1 |
| cloisim_ros_bringup_param | 4.7.1 |
| cloisim_ros_camera | 4.7.1 |
| cloisim_ros_contact | 4.7.1 |
| cloisim_ros_elevator_system | 4.7.1 |
| cloisim_ros_gps | 4.7.1 |
| cloisim_ros_ground_truth | 4.7.1 |
| cloisim_ros_imu | 4.7.1 |
| cloisim_ros_joint_control | 4.7.1 |
| cloisim_ros_lidar | 4.7.1 |
| cloisim_ros_micom | 4.7.1 |
| cloisim_ros_msgs | 4.7.1 |
| cloisim_ros_multicamera | 4.7.1 |
| cloisim_ros_protobuf_msgs | 4.7.1 |
| cloisim_ros_range | 4.7.1 |
| cloisim_ros_realsense | 4.7.1 |
| cloisim_ros_websocket_service | 4.7.1 |
| cloisim_ros_world | 4.7.1 |
README
cloisim_ros (jazzy version)
ROS2 simulation device packages to connect CLOiSim(the unity3D based multi-robot simulator).
Download CLOiSim Simulator
Install ROS2 jazzy
follow the guideline on below link.
https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debians.html
Prerequisite
mkdir -p ~/cloisim_ws/src
cd ~/cloisim_ws/src
git clone --recursive https://github.com/lge-ros2/cloisim_ros.git -b jazzy
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 jazzy
Build
Set up ROS2 environment first
source /opt/ros2/jazzy/setup.bash
cd ~/cloisim_ws
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)
DDS
recommended to use cylcone DDS
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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
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 jazzy
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
CONTRIBUTING
No CONTRIBUTING.md found.
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.