Disclaimer: This model and the simulation is not actively developed anymore. If you want to contribute to the project, contact us with your plans Discord.

This repository contains a URDF representation of ExoMy, that can be used in the visualization tool rviz2 and the simulation environment Gazebo.

The software is supposed to run on a more powerful machine than the Raspberry Pi. It was tested on a laptop with Ubuntu 20.04.

• Clone this repository git clone https://github.com/0xD0M1M0/ExoMy_Model next to the ExoMy_Software folder

• Be sure to be on the branch ros2/foxy on both repositories

• To allow programs being opened from within the docker container run xhost +local:docker

• Change to the folder ExoMy_Model/docker

• Start the Docker container with docker-compose run --name exomy_sim exomy_sim

• Inside the docker run colcon build

• Followed by source install/setup.zsh

• Launch the simulation with ros2 launch exomy_sim_launch simulation.launch.py

• Rviz2 and gazebo should open and you can drive around with the gamepad

• If you wanna use the web GUI you have to start another terminal in the container

• You can do that from the host with docker exec -it exomy_sim zsh

• Change to the directory exomy_ws/src/exomy/gui

• The commands to start the http-server and ros webbridge were put in a script

• Start the script with sh run_gui.sh

• It should show you an ip address that you can click on or copy into your browser

• The Web GUI should show up and you can use it to drive around

When running on a slower system, e.g a Virtual Machine, the spawn_entity.py script could fail, due to a slow startup time of Gazebo. For this case the launch file spawn_exomy.launch.py is provided. To use it the line spawn_rover in the return LaunchConfiguration() needs to be commented out. Then the simulation.launch.py can be run. When Gazebo is launched properly the spawn_exomy.launch.py can be run.

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@ExoMy_Rover

@ExoMy_Rover