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cloisim_ros_bringup package from cloisim_ros repo

cloisim_ros_actor cloisim_ros_base cloisim_ros_bridge_zmq cloisim_ros_bringup cloisim_ros_bringup_param cloisim_ros_camera cloisim_ros_contact cloisim_ros_elevator_system cloisim_ros_gps cloisim_ros_ground_truth cloisim_ros_imu cloisim_ros_joint_control cloisim_ros_lidar cloisim_ros_micom cloisim_ros_msgs cloisim_ros_multicamera cloisim_ros_protobuf_msgs cloisim_ros_range cloisim_ros_realsense cloisim_ros_websocket_service cloisim_ros_world

ROS Distro
github

API Docs
Browse Code

Package Summary

Version	4.9.2
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2 simulation device packages to connect unity based multi-robot simulator CLOisim.
Checkout URI	https://github.com/lge-ros2/cloisim_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-04
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Bringup scripts and configurations for cloisim_ros

Maintainers

Hyunseok Yang
Sungkyu Kang

Authors

Sungkyu Kang
Hyunseok Yang

cloisim_ros_bringup/README.md

cloisim_ros_bringup

The cloisim_ros_bringup package is an bringup system for cloisim_ros.

ROS2 Launch

ros2 launch cloisim_ros_bringup cloisim.launch.py
ros2 launch cloisim_ros_bringup bringup_launch.py

ROS2 Run

ros2 run cloisim_ros_bringup bringup

with parameters

Turn off single mode (= multi robot mode)

Apply namespaceas each robot as a multi robot mode

ros2 run

ros2 run cloisim_ros_bringup bringup --ros-args -p single_mode:=False
ros2 run cloisim_ros_bringup bringup

ros2 launch

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

Specify the target model or target parts

Available Parts(case sensitive): MICOM, LASER, LIDAR, CAMERA, DEPTHCAMERA, MULTICAMERA, REALSENSE, GPS, ELEVATOR, WORLD

Examples

ros2 launch cloisim_ros_bringup bringup_launch.py target_model:=cloi1
ros2 launch cloisim_ros_bringup bringup_launch.py target_parts_type:=LASER
ros2 launch cloisim_ros_bringup bringup_launch.py target_model:=cloi1 target_parts_type:=LASER
ros2 launch cloisim_ros_bringup bringup_launch.py target_model:=cloi1 target_parts_type:=LASER target_parts_name:=lidar

Turn on single Mode

will NOT apply namespace for robot and the number of robot must BE single in world environment.

ros2 run cloisim_ros_bringup bringup --ros-args -p single_mode:=True
ros2 launch cloisim_ros_bringup bringup_launch.py single_mode:=True
ros2 launch cloisim_ros_bringup bringup_single_launch.py

Specific target model without namespace

Specify target model from simulation

ros2 launch cloisim_ros_bringup bringup_launch.py single_mode:=True target_model:=cloi0
ros2 launch cloisim_ros_bringup bringup_single_launch.py target_model:=cloi0

Enable or disable TF/TF_Static publishing

Currently only support “micom” type in cloisim_ros_bringup.

ros2 run cloisim_ros_bringup bringup --ros-args -p single_mode:=True -p micom.enable_tf:=False
ros2 launch cloisim_ros_bringup bringup_launch.py single_mode:=True micom.enable_tf:=False
ros2 launch cloisim_ros_bringup bringup_single_launch.py micom.enable_tf:=False

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	launch
	launch_testing
	launch_ros
	rclcpp
	cloisim_ros_bringup_param
	cloisim_ros_websocket_service
	cloisim_ros_micom
	cloisim_ros_lidar
	cloisim_ros_camera
	cloisim_ros_multicamera
	cloisim_ros_realsense
	cloisim_ros_gps
	cloisim_ros_imu
	cloisim_ros_range
	cloisim_ros_contact
	cloisim_ros_elevator_system
	cloisim_ros_ground_truth
	cloisim_ros_world
	cloisim_ros_actor
	cloisim_ros_joint_control

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cloisim_ros_bringup` at Robotics Stack Exchange

API Docs Browse Code

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