ROS2 docker for the OmniLRS demo

ROS2 humble container to run OmniLRS demo.
In this project, we use docker for easy development.

First, clone this repository under your home directory.

git clone [email protected]:jnskkmhr/omnilrs_ros2_demo.git

Build docker images and ros2 packages

Then, build docker images and ros2 package

cd omnilrs_ros2_demo
./docker/build_image.sh

cd omnilrs_ros2_demo
./docker/run_container.sh

# then build package & source
colcon build --symlink-install
source install/setup.bash

Run

Make sure that you have installed the docker version of OmniLRS and run the simulation.

# Run the simulation docker
./omnilrs.docker/run_docker.sh
# Launch simulation
/isaac-sim/python.sh run.py environment=lunalab

joystick teleoperation

Inside container shell, run

ros2 launch robot_controller teleop_joy.launch.yaml

If you want to change the max speed, please change parameters in joystick.yaml

navigation

Inside container shell, run

# one-liner script to run slam and navigation 
/docker/humble_navigation.sh

Usage for other visualisation tools

Foxglove Studio

• You might need to install foxglove studio into your desktop, following the official website installation guide
• Once the OmniLRS is running, you can run the following command to display data information (i.e. /imu, /odom, /depth_img).

cd omnilrs_ros2_demo
./docker/run_container.sh

source install/setup.bash

ros2 launch vis_tool foxglove_depth_encode.launch.py

Tip

You can use the example of our configuration by cliking at LAYOUT and Import from file.... Then navigate to the /omnilrs_ros2_demo/humble_ws/src/vis_tool/config/OmniLRS_ros2.json For the given example of configuration file, we assume that you are running the OmniLRS with ros2_husky_PhysC_vlp16_mono_depth_imu.usd. You can check this by looking into the OmniLRS/cfg/environment/<ENVIRONMENT.yaml> The navigation feature is not included in this layout.

Rerun.io

Once the OmniLRS is running, you can run the following command to display the same data inside rerun.

cd omnilrs_ros2_demo
./docker/run_container.sh

source install/setup.bash

python3 src/vis_tool/scripts/rerun/rerun_omnilrs.py