FIx bug from update of packages

README.md

@@ -8,11 +8,6 @@
 ![GitHub fork](https://img.shields.io/github/forks/sd-robotics/int-ball2_isaac_sim)
 ![GitHub stars](https://img.shields.io/github/stars/sd-robotics/int-ball2_isaac_sim)
 
-<!--  [![Ubuntu22.04](https://img.shields.io/badge/Ubuntu-22.04-orange.svg)](https://ubuntu.com/tutorials/install-ubuntu-desktop#1-overview) -->
-<!-- [![IsaacSim](https://img.shields.io/badge/IsaacSim-4.2.0-green.svg)](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html) -->
-<!-- [![Python](https://img.shields.io/badge/python-3.10-blue.svg)](https://docs.python.org/3/whatsnew/3.10.html) -->
-<!-- [![ros2-humble installation](https://img.shields.io/badge/ROS2-Humble-blue.svg)](https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html) -->
-
 <p style="display: inline">
   <img src="https://img.shields.io/badge/-Ubuntu_22.04_LTS-555555.svg?style=flat&logo=ubuntu">  
   <img src="https://img.shields.io/badge/-Isaac_Sim 4.5.0-76B900.svg?style=flat&logo=nvidia&logoColor=white">
@@ -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
 ```

README_JA.md

@@ -8,14 +8,9 @@
 ![GitHub fork](https://img.shields.io/github/forks/sd-robotics/int-ball2_isaac_sim)
 ![GitHub stars](https://img.shields.io/github/stars/sd-robotics/int-ball2_isaac_sim)
 
-<!--  [![Ubuntu22.04](https://img.shields.io/badge/Ubuntu-22.04-orange.svg)](https://ubuntu.com/tutorials/install-ubuntu-desktop#1-overview) -->
-<!-- [![IsaacSim](https://img.shields.io/badge/IsaacSim-4.2.0-green.svg)](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html) -->
-<!-- [![Python](https://img.shields.io/badge/python-3.10-blue.svg)](https://docs.python.org/3/whatsnew/3.10.html) -->
-<!-- [![ros2-humble installation](https://img.shields.io/badge/ROS2-Humble-blue.svg)](https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html) -->
-
 <p style="display: inline">
   <img src="https://img.shields.io/badge/-Ubuntu_22.04_LTS-555555.svg?style=flat&logo=ubuntu">  
-  <img src="https://img.shields.io/badge/-Isaac_Sim 4.2.0-76B900.svg?style=flat&logo=nvidia&logoColor=white">
+  <img src="https://img.shields.io/badge/-Isaac_Sim 4.5.0-76B900.svg?style=flat&logo=nvidia&logoColor=white">
   <img src="https://img.shields.io/badge/-ROS2 Humble-%2322314E?style=flat&logo=ROS&logoColor=white">
   <img src="https://img.shields.io/badge/-Python 3.10-3776AB.svg?logo=python&style=flat&logoColor=white">
   <img src="https://img.shields.io/badge/License-Apache--2.0-60C060.svg?style=flat">
@@ -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]

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..."
@@ -37,25 +40,23 @@ 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 || \
 echo "deb https://isaac.download.nvidia.com/isaac-ros/release-3 $(lsb_release -cs) release-3.0" | sudo tee -a /etc/apt/sources.list
 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!"

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([

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):
@@ -22,38 +22,39 @@ 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")
 
     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):

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})"
         )

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
+)

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()
     )