A quick start example about cloisim HOT 13 CLOSED

I changed the graphic card to rtx 2070 and installed vulkan library.
Now it worked.

Many thanks.

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You can move robot with teleop twist keyboard. with

ros2 run teleop_twist_keyboard teleop_twist_keyboard /cmd_vel:=/cloi/cmd_vel

You need '/cloi' namespace for all topic because we assign namespace each robot.

If you need run navigation2 or cartographor, you need remmapings each topic.

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@misook3
You need to prepare below packages like you mentioned.

1. CLOiSim
2. sample-resources
3. sim-device

You'd better to launch below script after install ROS2(Dashing) and build sim-device.

Here's a guide. Usage

1. Do setup ROS2 environment like always
   $ . /opt/ros/dashing/setup.bash

2. Set environment variable with the location of resources where you downloaded
   export CLOISIM_MODEL_PATH="/home/Unity/cloisim/sample-resources/models"
   export CLOISIM_WORLD_PATH="/home/Unity/cloisim/sample-resources/worlds"

3. Do setup sim-device package after build(colcon build).
   (it's an one of example, please change the path where you extracted.)
   $ ros2 launch simdevice_bringup cloisim_world.launch.py sim_path:=/home/yg/CLOiSimRelease/CLOiSim-1.7.0 world:=lg_seocho.world

refer to this launcher script here

BTW, 'sim-device' stands for 'simulation-device' :).

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Thank you very much for your inputs.
However I have a problem about launch file format.
How should I go about this?

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I solved this problem :D
At sim-device-dashing, source install/setup.bash did it.
However, my screen does not show any models and worlds...
What did I miss?

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It looks CLOiSim has been terminated when you launched.
Are you running those simulation on Docker Container? or Remote environment?

If it so, you need to set configuration for X11-display and nvidia driver setting.

It might be helpful. link

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Ah, I did not run CLOiSim...
After I added another path into an environment, export CLOISIM_FILES_PATH="/home/ubuntu/sample-resources-0.2.0", I ran CLOiSim, but I could not figure it out where I have to change the path...
Did I add a right path?

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Actually "cloisim_world.launch.py" script runs CLOiSim. That's why it needs to add a sim_path as an argument on command.

All you need is just run cloisim_world.launch.py after set ENVIRONMENT variable like below.

ex)
export CLOISIM_WORLD_PATH=/home/ubuntu/sample-resources-0.2.0/worlds/
export CLOISIM_MODEL_PATH=/home/ubuntu/sample-resources-0.2.0/models/

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Ah, I did not run CLOiSim...
After I added another path into an environment, export CLOISIM_FILES_PATH="/home/ubuntu/sample-resources-0.2.0", I ran CLOiSim, but I could not figure it out where I have to change the path...
Did I add a right path?

If you cannot see any simulation popup window, I think your display setting is wrong.

Are you working at remote server through SSH?

Please check if display setting is working properly.

Check display
$ sudo apt-get install x11-apps
$ xeyes

And nvidia graphic driver should be installed.

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Yes! I will check the display setting and try the docker version of CLOiSim.
Many thanks for extra explanations.

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You were right!
It turns out my graphic card (nvidia gtx 1070) driver is not compatible with released binary CLOiSim.
Only CLOiSim-1.1.0 is runable...

If I build the source code of CLOiSim-1.6.0, would it be runable on my notbook?
When I try to open the project of CLOiSim-1.6.0 in Unity Editor, which file should I choose as a solution file(?) in the source code?

Thanks

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@misook3

It looks you are missing prerequisite library.
Usage

sudo apt-get install libvulkan1

Vulkan library is required since version 1.1.1.

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@misook3 Good job!

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