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cloisim_ros repository

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

Repository Summary

Description
Checkout URI https://github.com/lge-ros2/cloisim_ros.git
VCS Type git
VCS Version main
Last Updated 2026-03-10
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cloisim_ros_actor 4.10.1
cloisim_ros_base 4.10.1
cloisim_ros_bridge_zmq 4.10.1
cloisim_ros_bringup 4.10.1
cloisim_ros_bringup_param 4.10.1
cloisim_ros_camera 4.10.1
cloisim_ros_contact 4.10.1
cloisim_ros_elevator_system 4.10.1
cloisim_ros_gps 4.10.1
cloisim_ros_ground_truth 4.10.1
cloisim_ros_imu 4.10.1
cloisim_ros_joint_control 4.10.1
cloisim_ros_lidar 4.10.1
cloisim_ros_micom 4.10.1
cloisim_ros_msgs 4.10.1
cloisim_ros_multicamera 4.10.1
cloisim_ros_protobuf_msgs 4.10.1
cloisim_ros_range 4.10.1
cloisim_ros_realsense 4.10.1
cloisim_ros_websocket_service 4.10.1
cloisim_ros_world 4.10.1

README

cloisim_ros (jazzy 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 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

The default max retry number is 5, if you want to change set environment variable.

export CLOISIM_CONNECTION_MAX_RETRY=10

Run cloisim_ros (robot + world)

DDS with cyclone dds

Recommended to use cyclone DDS and config file Place the config XML file in your desired location and set the environment variable as shown below:

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=file:///$PWD/cloisim_ros/cyclonedds_config.xml

sudo sysctl -w net.core.rmem_max=16777216 \
            -w net.core.rmem_default=16777216 \
            -w net.core.wmem_max=16777216 \
            -w net.core.wmem_default=16777216

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.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

cloisim_ros repository

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

Repository Summary

Description
Checkout URI https://github.com/lge-ros2/cloisim_ros.git
VCS Type git
VCS Version main
Last Updated 2026-03-10
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cloisim_ros_actor 4.10.1
cloisim_ros_base 4.10.1
cloisim_ros_bridge_zmq 4.10.1
cloisim_ros_bringup 4.10.1
cloisim_ros_bringup_param 4.10.1
cloisim_ros_camera 4.10.1
cloisim_ros_contact 4.10.1
cloisim_ros_elevator_system 4.10.1
cloisim_ros_gps 4.10.1
cloisim_ros_ground_truth 4.10.1
cloisim_ros_imu 4.10.1
cloisim_ros_joint_control 4.10.1
cloisim_ros_lidar 4.10.1
cloisim_ros_micom 4.10.1
cloisim_ros_msgs 4.10.1
cloisim_ros_multicamera 4.10.1
cloisim_ros_protobuf_msgs 4.10.1
cloisim_ros_range 4.10.1
cloisim_ros_realsense 4.10.1
cloisim_ros_websocket_service 4.10.1
cloisim_ros_world 4.10.1

README

cloisim_ros (jazzy 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 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

The default max retry number is 5, if you want to change set environment variable.

export CLOISIM_CONNECTION_MAX_RETRY=10

Run cloisim_ros (robot + world)

DDS with cyclone dds

Recommended to use cyclone DDS and config file Place the config XML file in your desired location and set the environment variable as shown below:

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=file:///$PWD/cloisim_ros/cyclonedds_config.xml

sudo sysctl -w net.core.rmem_max=16777216 \
            -w net.core.rmem_default=16777216 \
            -w net.core.wmem_max=16777216 \
            -w net.core.wmem_default=16777216

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.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

cloisim_ros repository

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

Repository Summary

Description
Checkout URI https://github.com/lge-ros2/cloisim_ros.git
VCS Type git
VCS Version main
Last Updated 2026-03-10
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cloisim_ros_actor 4.10.1
cloisim_ros_base 4.10.1
cloisim_ros_bridge_zmq 4.10.1
cloisim_ros_bringup 4.10.1
cloisim_ros_bringup_param 4.10.1
cloisim_ros_camera 4.10.1
cloisim_ros_contact 4.10.1
cloisim_ros_elevator_system 4.10.1
cloisim_ros_gps 4.10.1
cloisim_ros_ground_truth 4.10.1
cloisim_ros_imu 4.10.1
cloisim_ros_joint_control 4.10.1
cloisim_ros_lidar 4.10.1
cloisim_ros_micom 4.10.1
cloisim_ros_msgs 4.10.1
cloisim_ros_multicamera 4.10.1
cloisim_ros_protobuf_msgs 4.10.1
cloisim_ros_range 4.10.1
cloisim_ros_realsense 4.10.1
cloisim_ros_websocket_service 4.10.1
cloisim_ros_world 4.10.1

README

cloisim_ros (jazzy 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 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

The default max retry number is 5, if you want to change set environment variable.

export CLOISIM_CONNECTION_MAX_RETRY=10

Run cloisim_ros (robot + world)

DDS with cyclone dds

Recommended to use cyclone DDS and config file Place the config XML file in your desired location and set the environment variable as shown below:

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=file:///$PWD/cloisim_ros/cyclonedds_config.xml

sudo sysctl -w net.core.rmem_max=16777216 \
            -w net.core.rmem_default=16777216 \
            -w net.core.wmem_max=16777216 \
            -w net.core.wmem_default=16777216

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.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

cloisim_ros repository

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

Repository Summary

Description
Checkout URI https://github.com/lge-ros2/cloisim_ros.git
VCS Type git
VCS Version main
Last Updated 2026-03-10
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cloisim_ros_actor 4.10.1
cloisim_ros_base 4.10.1
cloisim_ros_bridge_zmq 4.10.1
cloisim_ros_bringup 4.10.1
cloisim_ros_bringup_param 4.10.1
cloisim_ros_camera 4.10.1
cloisim_ros_contact 4.10.1
cloisim_ros_elevator_system 4.10.1
cloisim_ros_gps 4.10.1
cloisim_ros_ground_truth 4.10.1
cloisim_ros_imu 4.10.1
cloisim_ros_joint_control 4.10.1
cloisim_ros_lidar 4.10.1
cloisim_ros_micom 4.10.1
cloisim_ros_msgs 4.10.1
cloisim_ros_multicamera 4.10.1
cloisim_ros_protobuf_msgs 4.10.1
cloisim_ros_range 4.10.1
cloisim_ros_realsense 4.10.1
cloisim_ros_websocket_service 4.10.1
cloisim_ros_world 4.10.1

README

cloisim_ros (jazzy 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 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

The default max retry number is 5, if you want to change set environment variable.

export CLOISIM_CONNECTION_MAX_RETRY=10

Run cloisim_ros (robot + world)

DDS with cyclone dds

Recommended to use cyclone DDS and config file Place the config XML file in your desired location and set the environment variable as shown below:

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=file:///$PWD/cloisim_ros/cyclonedds_config.xml

sudo sysctl -w net.core.rmem_max=16777216 \
            -w net.core.rmem_default=16777216 \
            -w net.core.wmem_max=16777216 \
            -w net.core.wmem_default=16777216

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.

File truncated at 100 lines see the full file

CONTRIBUTING

Repo symbol

cloisim_ros repository

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

Repository Summary

Description
Checkout URI https://github.com/lge-ros2/cloisim_ros.git
VCS Type git
VCS Version main
Last Updated 2026-03-10
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cloisim_ros_actor 4.10.1
cloisim_ros_base 4.10.1
cloisim_ros_bridge_zmq 4.10.1
cloisim_ros_bringup 4.10.1
cloisim_ros_bringup_param 4.10.1
cloisim_ros_camera 4.10.1
cloisim_ros_contact 4.10.1
cloisim_ros_elevator_system 4.10.1
cloisim_ros_gps 4.10.1
cloisim_ros_ground_truth 4.10.1
cloisim_ros_imu 4.10.1
cloisim_ros_joint_control 4.10.1
cloisim_ros_lidar 4.10.1
cloisim_ros_micom 4.10.1
cloisim_ros_msgs 4.10.1
cloisim_ros_multicamera 4.10.1
cloisim_ros_protobuf_msgs 4.10.1
cloisim_ros_range 4.10.1
cloisim_ros_realsense 4.10.1
cloisim_ros_websocket_service 4.10.1
cloisim_ros_world 4.10.1

README

cloisim_ros (jazzy 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 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

The default max retry number is 5, if you want to change set environment variable.

export CLOISIM_CONNECTION_MAX_RETRY=10

Run cloisim_ros (robot + world)

DDS with cyclone dds

Recommended to use cyclone DDS and config file Place the config XML file in your desired location and set the environment variable as shown below:

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=file:///$PWD/cloisim_ros/cyclonedds_config.xml

sudo sysctl -w net.core.rmem_max=16777216 \
            -w net.core.rmem_default=16777216 \
            -w net.core.wmem_max=16777216 \
            -w net.core.wmem_default=16777216

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.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

cloisim_ros repository

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

Repository Summary

Description
Checkout URI https://github.com/lge-ros2/cloisim_ros.git
VCS Type git
VCS Version main
Last Updated 2026-03-10
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cloisim_ros_actor 4.10.1
cloisim_ros_base 4.10.1
cloisim_ros_bridge_zmq 4.10.1
cloisim_ros_bringup 4.10.1
cloisim_ros_bringup_param 4.10.1
cloisim_ros_camera 4.10.1
cloisim_ros_contact 4.10.1
cloisim_ros_elevator_system 4.10.1
cloisim_ros_gps 4.10.1
cloisim_ros_ground_truth 4.10.1
cloisim_ros_imu 4.10.1
cloisim_ros_joint_control 4.10.1
cloisim_ros_lidar 4.10.1
cloisim_ros_micom 4.10.1
cloisim_ros_msgs 4.10.1
cloisim_ros_multicamera 4.10.1
cloisim_ros_protobuf_msgs 4.10.1
cloisim_ros_range 4.10.1
cloisim_ros_realsense 4.10.1
cloisim_ros_websocket_service 4.10.1
cloisim_ros_world 4.10.1

README

cloisim_ros (jazzy 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 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

The default max retry number is 5, if you want to change set environment variable.

export CLOISIM_CONNECTION_MAX_RETRY=10

Run cloisim_ros (robot + world)

DDS with cyclone dds

Recommended to use cyclone DDS and config file Place the config XML file in your desired location and set the environment variable as shown below:

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=file:///$PWD/cloisim_ros/cyclonedds_config.xml

sudo sysctl -w net.core.rmem_max=16777216 \
            -w net.core.rmem_default=16777216 \
            -w net.core.wmem_max=16777216 \
            -w net.core.wmem_default=16777216

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.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

cloisim_ros repository

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

Repository Summary

Description
Checkout URI https://github.com/lge-ros2/cloisim_ros.git
VCS Type git
VCS Version main
Last Updated 2026-03-10
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cloisim_ros_actor 4.10.1
cloisim_ros_base 4.10.1
cloisim_ros_bridge_zmq 4.10.1
cloisim_ros_bringup 4.10.1
cloisim_ros_bringup_param 4.10.1
cloisim_ros_camera 4.10.1
cloisim_ros_contact 4.10.1
cloisim_ros_elevator_system 4.10.1
cloisim_ros_gps 4.10.1
cloisim_ros_ground_truth 4.10.1
cloisim_ros_imu 4.10.1
cloisim_ros_joint_control 4.10.1
cloisim_ros_lidar 4.10.1
cloisim_ros_micom 4.10.1
cloisim_ros_msgs 4.10.1
cloisim_ros_multicamera 4.10.1
cloisim_ros_protobuf_msgs 4.10.1
cloisim_ros_range 4.10.1
cloisim_ros_realsense 4.10.1
cloisim_ros_websocket_service 4.10.1
cloisim_ros_world 4.10.1

README

cloisim_ros (jazzy 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 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

The default max retry number is 5, if you want to change set environment variable.

export CLOISIM_CONNECTION_MAX_RETRY=10

Run cloisim_ros (robot + world)

DDS with cyclone dds

Recommended to use cyclone DDS and config file Place the config XML file in your desired location and set the environment variable as shown below:

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=file:///$PWD/cloisim_ros/cyclonedds_config.xml

sudo sysctl -w net.core.rmem_max=16777216 \
            -w net.core.rmem_default=16777216 \
            -w net.core.wmem_max=16777216 \
            -w net.core.wmem_default=16777216

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.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

cloisim_ros repository

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

Repository Summary

Description
Checkout URI https://github.com/lge-ros2/cloisim_ros.git
VCS Type git
VCS Version main
Last Updated 2026-03-10
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cloisim_ros_actor 4.10.1
cloisim_ros_base 4.10.1
cloisim_ros_bridge_zmq 4.10.1
cloisim_ros_bringup 4.10.1
cloisim_ros_bringup_param 4.10.1
cloisim_ros_camera 4.10.1
cloisim_ros_contact 4.10.1
cloisim_ros_elevator_system 4.10.1
cloisim_ros_gps 4.10.1
cloisim_ros_ground_truth 4.10.1
cloisim_ros_imu 4.10.1
cloisim_ros_joint_control 4.10.1
cloisim_ros_lidar 4.10.1
cloisim_ros_micom 4.10.1
cloisim_ros_msgs 4.10.1
cloisim_ros_multicamera 4.10.1
cloisim_ros_protobuf_msgs 4.10.1
cloisim_ros_range 4.10.1
cloisim_ros_realsense 4.10.1
cloisim_ros_websocket_service 4.10.1
cloisim_ros_world 4.10.1

README

cloisim_ros (jazzy 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 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

The default max retry number is 5, if you want to change set environment variable.

export CLOISIM_CONNECTION_MAX_RETRY=10

Run cloisim_ros (robot + world)

DDS with cyclone dds

Recommended to use cyclone DDS and config file Place the config XML file in your desired location and set the environment variable as shown below:

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=file:///$PWD/cloisim_ros/cyclonedds_config.xml

sudo sysctl -w net.core.rmem_max=16777216 \
            -w net.core.rmem_default=16777216 \
            -w net.core.wmem_max=16777216 \
            -w net.core.wmem_default=16777216

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.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

cloisim_ros repository

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

Repository Summary

Description
Checkout URI https://github.com/lge-ros2/cloisim_ros.git
VCS Type git
VCS Version main
Last Updated 2026-03-10
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cloisim_ros_actor 4.10.1
cloisim_ros_base 4.10.1
cloisim_ros_bridge_zmq 4.10.1
cloisim_ros_bringup 4.10.1
cloisim_ros_bringup_param 4.10.1
cloisim_ros_camera 4.10.1
cloisim_ros_contact 4.10.1
cloisim_ros_elevator_system 4.10.1
cloisim_ros_gps 4.10.1
cloisim_ros_ground_truth 4.10.1
cloisim_ros_imu 4.10.1
cloisim_ros_joint_control 4.10.1
cloisim_ros_lidar 4.10.1
cloisim_ros_micom 4.10.1
cloisim_ros_msgs 4.10.1
cloisim_ros_multicamera 4.10.1
cloisim_ros_protobuf_msgs 4.10.1
cloisim_ros_range 4.10.1
cloisim_ros_realsense 4.10.1
cloisim_ros_websocket_service 4.10.1
cloisim_ros_world 4.10.1

README

cloisim_ros (jazzy 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 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

The default max retry number is 5, if you want to change set environment variable.

export CLOISIM_CONNECTION_MAX_RETRY=10

Run cloisim_ros (robot + world)

DDS with cyclone dds

Recommended to use cyclone DDS and config file Place the config XML file in your desired location and set the environment variable as shown below:

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=file:///$PWD/cloisim_ros/cyclonedds_config.xml

sudo sysctl -w net.core.rmem_max=16777216 \
            -w net.core.rmem_default=16777216 \
            -w net.core.wmem_max=16777216 \
            -w net.core.wmem_default=16777216

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.

File truncated at 100 lines see the full file

CONTRIBUTING