ROS Index
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cloisim_ros repositorydocker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros |
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cloisim_ros repositorydocker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros |
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
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cloisim_ros repositorydocker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros |
No version for distro kilted. Known supported distros are highlighted in the buttons above.
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cloisim_ros repositorydocker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros |
No version for distro rolling. Known supported distros are highlighted in the buttons above.
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cloisim_ros repositorydocker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros 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 |
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 | 2025-03-17 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | docker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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
File truncated at 100 lines see the full file
CONTRIBUTING
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cloisim_ros repositorydocker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros |
No version for distro galactic. Known supported distros are highlighted in the buttons above.
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cloisim_ros repositorydocker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros |
No version for distro iron. Known supported distros are highlighted in the buttons above.
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cloisim_ros repositorydocker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros |
No version for distro melodic. Known supported distros are highlighted in the buttons above.
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cloisim_ros repositorydocker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros |
No version for distro noetic. Known supported distros are highlighted in the buttons above.