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ros2-factory-sim

An integrated simulation of a factory environment using ROS2, PlanSys2, Nav2, and Isaac Sim. Features three robots executing smart navigation and package handling plans.

This README.md provides step-by-step instructions for setting up and using the project. Follow the guidelines below to install dependencies, configure your environment, and avoid known bugs.

Installation

Before proceeding, ensure you have ROS Foxy and Isaac Sim installed on your system. Then, follow these steps to install the necessary dependencies:

  1. Install required packages:

    sudo apt install ros-foxy-navigation2
sudo apt install ros-foxy-nav2-bringup
sudo apt install ros-foxy-plansys2-*
rosdep update --include-eol-distros

  2. Navigate to your workspace directory:

    cd <workspace>

  3. Install ROS dependencies:

    rosdep install -i --from-path src --rosdistro foxy -y

Environment Setup

To ensure a smooth development experience, follow these steps each time you start a new shell session from within the workspace folder:

  1. Clear the LD_LIBRARY_PATH variable:

    unset LD_LIBRARY_PATH

  2. Set the FASTRTPS_DEFAULT_PROFILES_FILE variable:

    export FASTRTPS_DEFAULT_PROFILES_FILE=~/.ros/fastdds.xml

  3. Source ROS Foxy:

    source /opt/ros/foxy/setup.bash

  4. Source the local workspace setup:

    source install/local_setup.bash

You can also just add these commands to the bashrc file.

Building

If you make any changes to the code, rebuild the project using the following command:

colcon build

Known Bugs

colcon build --symlink-install ros2 launch carter_navigation multiple_robot_carter_navigation_office.launch.py ros2 launch plansys2_bt plansys2_bt_launch.py ros2 run plansys2_terminal plansys2_terminal

Rviz Crash

Do not enable the controller in RViz due to a segmentation fault issue. Enabling the controller will lead to a program crash. This issue is detailed in this GitHub issue. By default, the controller is disabled in RViz to prevent crashes.

Feel free to contribute and report any additional issues!