Download CLOiSim Simulator

Install ROS2 jazzy

Prerequisite

mkdir -p~/cloisim_ws/srccd~/cloisim_ws/srcgit clone --recursive https://github.com/lge-ros2/cloisim_ros.git -b jazzysudo apt updatesudo apt install -y python3-rosdepsudo rosdep initrosdep updaterosdep install -y -r -q --from-paths src --ignore-src --rosdistro jazzy

Build

source /opt/ros2/jazzy/setup.bashcd~/cloisim_wscolcon build --symlink-install --packages-up-to cloisim_ros_bringup

Usage

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

Run cloisim_ros (robot + world)

DDS

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

Shared Memory DDS with FastRTPS

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

Turn off single mode(=multi robot mode)

ros2 launch cloisim_ros_bringup bringup_launch.pyros2 launch cloisim_ros_bringup bringup_launch.py single_mode:=False

Turn on single Mode

ros2 launch cloisim_ros_bringup bringup_launch.py single_mode:=True

Running CLOiSim

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

Using Docker

Build Docker image

git clone https://github.com/lge-ros2/cloisim_ros.git -b jazzycd cloisim_rosdocker build -t cloisim_ros.

Running container

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

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

Version info