diff --git a/README.md b/README.md
index 939808e..0423970 100644
--- a/README.md
+++ b/README.md
@@ -8,11 +8,6 @@
-
-
-
-
-
@@ -30,8 +25,7 @@
3. [**Installation**](#installation)
1. [Clone Repository](#clone-repository)
- 2. [Install Dependencies](#install-dependencies)
- 3. [Download Assets](#download-assets)
+ 2. [Download Assets and Install Dependencies](#download-assets-and-install-dependencies)
4. [**Usage**](#usage)
1. [Build & Source](#build--source)
@@ -62,7 +56,7 @@ In order to use this project, you need to get ready the following environment.
| Package | Version |
| --------- | ----------------------- |
| Ubuntu | 22.04 (Jammy Jellyfish) |
-| Isaac Sim | 4.2.0 (September 2024) |
+| Isaac Sim | 4.5.0 |
| ROS | Humble Hawksbill |
| Python | 3.10 <= |
@@ -79,24 +73,13 @@ Clone this package into your workspace.
git clone https://github.com/sd-robotics/int-ball2_isaac_sim.git
```
-### Install Dependencies
-Move into your workspace.
-```bash
-cd ~/int-ball2_ws/
-```
-
-Install the dependencies.
-``` bash
-rosdep install --from-paths src --ignore-src -r -y
-```
-
-### Download Assets
+### Download Assets and Install Dependencies
Move into this project folder.
```bash
cd ~/int-ball2_ws/src/int-ball2_isaac_sim
```
-Download the assets (Int-Ball2, JEM, etc).
+Download the assets (Int-Ball2, JEM, etc) and install software dependencies.
```bash
bash install_local.sh
```
diff --git a/README_JA.md b/README_JA.md
index d2c63bd..999d141 100644
--- a/README_JA.md
+++ b/README_JA.md
@@ -8,14 +8,9 @@
-
-
-
-
-
- 
+
@@ -30,8 +25,8 @@
3. [**インストール**](#インストール)
1. [リポジトリのクローン](#リポジトリのクローン)
- 2. [依存関係のインストール](#依存関係のインストール)
- 3. [アセットのダウンロード](#アセットのダウンロード)
+ 2. [アセットのダウンロードと依存パッケージのインストール](#アセットのダウンロードと依存パッケージのインストール)
+
4. [**使い方**](#使い方)
1. [ビルド & ソース](#ビルド--ソース)
@@ -63,7 +58,7 @@ ISS/JEM環境におけるInt-Ball2の挙動を、ユーザー開発プログラ
| Package | Version |
| --------- | ----------------------- |
| Ubuntu | 22.04 (Jammy Jellyfish) |
-| Isaac Sim | 4.2.0 (September 2024) |
+| Isaac Sim | 4.5.0 |
| ROS | Humble Hawksbill |
| Python | 3.10 <= |
@@ -80,24 +75,15 @@ cd ~/int-ball2_ws/src
git clone https://github.com/sd-robotics/int-ball2_isaac_sim.git
```
-### 依存関係のインストール
-ワークスペースまで移動します。
-```bash
-cd ~/int-ball2_ws/
-```
+### アセットのダウンロードと依存パッケージのインストール
-依存関係をインストールします。
-``` bash
-rosdep install --from-paths src --ignore-src -r -y
-```
-
-### アセットのダウンロード
プロジェクトまで移動します。
```bash
cd ~/int-ball2_ws/src/int-ball2_isaac_sim
```
-アセットをダウンロードします（Int-Ball2、JEM等）。
+アセットをダウンロードと依存パッケージのインストールを行います。
+
```bash
bash install_local.sh
```
@@ -114,7 +100,7 @@ source install/setup.bash
### シミュレータの起動方法
ros2 launchでシミュレータを起動します。
```bash
-ros2 launch int-ball2_isaac_sim int-ball2_isaac_sim.launch.py gui:="~/int-ball2_ws/src/int-ball2_isaac_sim/assets/KIBOU.usd"
+ros2 launch ib2_isaac_sim int-ball2_isaac_sim.launch.py usd_file:="KIBOU.usd"
```
> [!NOTE]
diff --git a/install_local.sh b/install_local.sh
index 6a0350b..b26d53c 100755
--- a/install_local.sh
+++ b/install_local.sh
@@ -19,8 +19,11 @@ if ! command -v gdown &> /dev/null; then
exit 1
fi
-CRT_DIR=$(pwd)
-cd int-ball2_isaac_sim
+PKG_DIR=$(pwd) # .../intball2_ws/src/int-ball2_isaac_sim
+SRC_DIR=$(dirname "$PKG_DIR") # .../intball2_ws/src
+WS_DIR=$(realpath "$SRC_DIR/..") # .../intball2_ws
+
+cd "$PKG_DIR"
# Download the folder as a ZIP file
echo "Starting download of assets..."
@@ -37,16 +40,14 @@ unzip -qq assets.zip
rm assets.zip
echo "Download complete!"
-cd "$CRT_DIR"
-
# Clone ib2 interface repository
+cd "$SRC_DIR"
if [ ! -d "ib2_interfaces" ]; then
- git clone git@github.com:sd-robotics/ib2_interfaces.git
+ git clone https://github.com/sd-robotics/ib2_interfaces.git
else
echo "ib2_interfaces directory already exists, skipping clone."
fi
-
# Install Isaac Sim dependencies
wget -qO - https://isaac.download.nvidia.com/isaac-ros/repos.key | sudo apt-key add -
grep -qxF "deb https://isaac.download.nvidia.com/isaac-ros/release-3 $(lsb_release -cs) release-3.0" /etc/apt/sources.list || \
@@ -54,8 +55,8 @@ echo "deb https://isaac.download.nvidia.com/isaac-ros/release-3 $(lsb_release -c
sudo apt-get update
sudo apt-get install -y ros-humble-isaac-ros-nitros
-# Setup Isaac Sim launcher repository
-cd ..
+# Setup Isaac Sim launcher repository under src
+cd "$SRC_DIR"
if [ ! -d "IsaacSim-ros_workspaces" ]; then
mkdir IsaacSim-ros_workspaces
cd IsaacSim-ros_workspaces
@@ -64,11 +65,13 @@ if [ ! -d "IsaacSim-ros_workspaces" ]; then
git config core.sparseCheckout true
git sparse-checkout set humble_ws/src/isaacsim
git pull origin main
- cd "$CRT_DIR"
else
echo "IsaacSim-ros_workspaces directory already exists, skipping clone."
- cd "$CRT_DIR"
fi
+# rosdep dependencies
+echo "Install ros2 packages dependencies"
+cd "$WS_DIR"
+rosdep install --from-paths "$SRC_DIR" --ignore-src -r -y
echo "Local installation complete!"
diff --git a/int-ball2_control/launch/int-ball2_teleop.launch.py b/int-ball2_control/launch/int-ball2_teleop.launch.py
index 60f1113..577d62a 100644
--- a/int-ball2_control/launch/int-ball2_teleop.launch.py
+++ b/int-ball2_control/launch/int-ball2_teleop.launch.py
@@ -19,14 +19,20 @@ def generate_launch_description():
package = 'int-ball2_control',
executable = 'direct_velocity_control.py',
name = 'ib2_vel_ctrl',
- output = 'screen'
+ output = 'screen',
+ parameters=[{
+ 'use_sim_time': True
+ }]
)
intball2_effort_joy_node = Node(
package = 'int-ball2_control',
executable = 'direct_effort_control.py',
name = 'ib2_eff_ctrl',
- output = 'screen'
+ output = 'screen',
+ parameters=[{
+ 'use_sim_time': True
+ }]
)
return LaunchDescription([
diff --git a/int-ball2_control/scripts/direct_effort_control.py b/int-ball2_control/scripts/direct_effort_control.py
index 8908e12..f3aca7e 100755
--- a/int-ball2_control/scripts/direct_effort_control.py
+++ b/int-ball2_control/scripts/direct_effort_control.py
@@ -3,7 +3,7 @@
import rclpy
from rclpy.node import Node
from sensor_msgs.msg import Joy
-from geometry_msgs.msg import Wrench
+from geometry_msgs.msg import WrenchStamped
class IntBall2ForceController(Node):
def __init__(self):
@@ -22,7 +22,7 @@ def __init__(self):
)
# Publisher for force/torque
- self.wrench_publisher = self.create_publisher(Wrench, "/ctl/wrench", 10)
+ self.wrench_publisher = self.create_publisher(WrenchStamped, "/ctl/wrench", 10)
self.get_logger().info("Int-Ball2 Force Controller Node Initialized")
@@ -30,30 +30,31 @@ def joy_callback(self, msg):
"""
Callback for handling joystick inputs and mapping them to Wrench messages.
"""
- wrench = Wrench()
+ wrench_st = WrenchStamped()
+ wrench_st.header.stamp = self.get_clock().now().to_msg()
# Left stick controls force in X and Y
- wrench.force.x = msg.axes[1] * self.force_scale # Left stick X
- wrench.force.y = msg.axes[0] * self.force_scale # Left stick Y
+ wrench_st.wrench.force.x = msg.axes[1] * self.force_scale # Left stick X
+ wrench_st.wrench.force.y = msg.axes[0] * self.force_scale # Left stick Y
# Right stick controls rotation (torque) in X and Y
- wrench.torque.x = msg.axes[4] * self.torque_scale # Right stick X
- wrench.torque.y = msg.axes[3] * self.torque_scale # Right stick Y
+ wrench_st.wrench.torque.x = msg.axes[4] * self.torque_scale # Right stick X
+ wrench_st.wrench.torque.y = msg.axes[3] * self.torque_scale # Right stick Y
# L2 (Axis 2) and R2 (Axis 5) control force in Z
L2 = (1 - msg.axes[2]) / 2 # Convert from [-1, 1] to [0, 1]
R2 = (1 - msg.axes[5]) / 2 # Convert from [-1, 1] to [0, 1]
if msg.buttons[1]:
- wrench.force.z = (R2 - L2) * self.force_scale # R2 increases, L2 decreases
+ wrench_st.wrench.force.z = (R2 - L2) * self.force_scale # R2 increases, L2 decreases
elif msg.buttons[0]:
- wrench.torque.z = (R2 - L2) * self.torque_scale # R2 increases, L2 decreases
+ wrench_st.wrench.torque.z = (R2 - L2) * self.torque_scale # R2 increases, L2 decreases
# Publish the wrench message
- self.wrench_publisher.publish(wrench)
- self.get_logger().info(
- f"Published wrench: Force({wrench.force.x}, {wrench.force.y}, {wrench.force.z}) | "
- f"Torque({wrench.torque.x}, {wrench.torque.y}, {wrench.torque.z})"
+ self.wrench_publisher.publish(wrench_st)
+ self.get_logger().debug(
+ f"Published wrench: Force({wrench_st.wrench.force.x}, {wrench_st.wrench.force.y}, {wrench_st.wrench.force.z}) | "
+ f"Torque({wrench_st.wrench.torque.x}, {wrench_st.wrench.torque.y}, {wrench_st.wrench.torque.z})"
)
def main(args=None):
diff --git a/int-ball2_control/scripts/direct_velocity_control.py b/int-ball2_control/scripts/direct_velocity_control.py
index 750c5b0..f8b826b 100755
--- a/int-ball2_control/scripts/direct_velocity_control.py
+++ b/int-ball2_control/scripts/direct_velocity_control.py
@@ -32,25 +32,25 @@ def joy_callback(self, joy_msg):
twist = Twist()
# Left stick controls linear velocity in X and Y
- twist.linear.x = msg.axes[1] * self.MAX_LIN_VEL # Left stick X
- twist.linear.y = msg.axes[0] * self.MAX_LIN_VEL # Left stick Y
+ twist.linear.x = joy_msg.axes[1] * self.MAX_LIN_VEL # Left stick X
+ twist.linear.y = joy_msg.axes[0] * self.MAX_LIN_VEL # Left stick Y
# Right stick controls angular velocity in X and Y
- twist.angular.x = msg.axes[4] * self.MAX_ANG_VEL # Right stick X
- twist.angular.y = msg.axes[3] * self.MAX_ANG_VEL # Right stick Y
+ twist.angular.x = joy_msg.axes[4] * self.MAX_ANG_VEL # Right stick X
+ twist.angular.y = joy_msg.axes[3] * self.MAX_ANG_VEL # Right stick Y
# L2 (Axis 2) and R2 (Axis 5) control force in Z
- L2 = (1 - msg.axes[2]) / 2 # Convert from [-1, 1] to [0, 1]
- R2 = (1 - msg.axes[5]) / 2 # Convert from [-1, 1] to [0, 1]
+ L2 = (1 - joy_msg.axes[2]) / 2 # Convert from [-1, 1] to [0, 1]
+ R2 = (1 - joy_msg.axes[5]) / 2 # Convert from [-1, 1] to [0, 1]
- if msg.buttons[1]:
+ if joy_msg.buttons[1]:
twist.linear.z = (R2 - L2) * self.MAX_LIN_VEL # R2 increases, L2 decreases
- elif msg.buttons[0]:
+ elif joy_msg.buttons[0]:
twist.angular.z = (R2 - L2) * self.MAX_ANG_VEL # R2 increases, L2 decreases
# Publish the twist message
self.twist_publisher.publish(twist)
- self.get_logger().info(
+ self.get_logger().debug(
f"Published Twist: Linear({twist.linear.x}, {twist.linear.y}, {twist.linear.z}) | "
f"Angular({twist.angular.x}, {twist.angular.y}, {twist.angular.z})"
)
diff --git a/int-ball2_data_replay/CMakeLists.txt b/int-ball2_data_replay/CMakeLists.txt
index c8d8502..d244ea5 100644
--- a/int-ball2_data_replay/CMakeLists.txt
+++ b/int-ball2_data_replay/CMakeLists.txt
@@ -34,4 +34,6 @@ if(BUILD_TESTING)
ament_lint_auto_find_test_dependencies()
endif()
-ament_auto_package()
+ament_auto_package(
+ USE_SCOPED_HEADER_INSTALL_DIR
+)
diff --git a/int-ball2_isaac_sim/launch/int-ball2_isaac_sim.launch.py b/int-ball2_isaac_sim/launch/int-ball2_isaac_sim.launch.py
index a9dddd5..54be2fd 100755
--- a/int-ball2_isaac_sim/launch/int-ball2_isaac_sim.launch.py
+++ b/int-ball2_isaac_sim/launch/int-ball2_isaac_sim.launch.py
@@ -1,5 +1,5 @@
from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, SetEnvironmentVariable
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, TextSubstitution
from launch_ros.substitutions import FindPackageShare
@@ -27,10 +27,31 @@ def generate_launch_description():
default_value='false',
description='Play Isaac Sim after the scene is loaded'
),
+ # Forwarded args to upstream run_isaacsim.launch.py to ensure correct ROS setup
+ DeclareLaunchArgument(
+ 'use_internal_libs',
+ default_value='false',
+ description='Use ROS libraries shipped with Isaac Sim to avoid host ROS conflicts'
+ ),
+ DeclareLaunchArgument(
+ 'dds_type',
+ default_value='fastdds',
+ description='DDS implementation for Isaac Sim ROS bridge (fastdds or cyclonedds)'
+ ),
+ DeclareLaunchArgument(
+ 'ros_distro',
+ default_value='humble',
+ description='ROS distribution to use inside Isaac Sim'
+ ),
+ DeclareLaunchArgument(
+ 'exclude_install_path',
+ default_value='',
+ description='Comma-separated install paths to exclude from Isaac Sim environment (e.g., /opt/ros/humble,~/ws/install)'
+ ),
]
asset_path = PathJoinSubstitution([
- FindPackageShare('int-ball2_isaac_sim'),
+ FindPackageShare('ib2_isaac_sim'),
'assets',
LaunchConfiguration('usd_file')
])
@@ -48,6 +69,9 @@ def generate_launch_description():
'install_path': LaunchConfiguration('isaac_path'),
'gui': asset_path,
'play_sim_on_start': LaunchConfiguration('play_on_start'),
+ 'use_internal_libs': LaunchConfiguration('use_internal_libs'),
+ 'dds_type': LaunchConfiguration('dds_type'),
+ 'ros_distro': LaunchConfiguration('ros_distro'),
}.items()
)