tools-OmniNxtSimulator

OmniNxt simulator based on Isaac Lab

Setup

Requirements

• Docker
• Nvidia-container-toolkit
• Git-LFS

Clone the repository with Git-LFS

# if not installed
sudo apt install git-lfs
# if you have a previous system-wide configuration
sudo git config --system --remove-section filter.lfs
# if you have a previous user-wide configuration
git config --global --remove-section filter.lfs

git clone https://github.com/D2SLAM-Fusion/tools-OmniNxtSimulator.git
cd tools-OmniNxtSimulator
git lfs install
git config lfs.url "https://public:[email protected]/artifactory/api/lfs/swarm-lfs"

# Pull the models
git lfs pull

Fetch the submodules and build the docker images

./scripts/init.sh
./scripts/start.sh

Run the simulator

1. Attach to the simulator container via VSCode Remote-Container extension

2. Run the simulator application with GUI or Native Streaming

# GUI
cd user_apps
./gui.sh 00_single_uav.py

# Native Streaming
cd user_apps
./stream.sh 00_single_uav.py

3. Control the UAVs

Use the ros2 topic to control the UAVs

# Example to control robot_0
# Position control
ros2 topic pub /robot_0/control_cmd std_msgs/Float32MultiArray "{data: [0, x, y, z, yaw]}"

# Velocity control
ros2 topic pub /robot_0/control_cmd std_msgs/Float32MultiArray "{data: [1, vx, vy, vz, yaw]}"

# Thrust and Angular velocity control
ros2 topic pub /robot_0/control_cmd std_msgs/Float32MultiArray "{data: [2, avx, avy, avz, thrust]}"

Data format:

[0] - control mode | 0: position control, 1: velocity control, 2: angular velocity control

[1:4] - x, y, z, yaw | position control

[1:4] - vx, vy, vz, yaw | velocity control

[1:4] - avx, avy, avz, thrust | angular velocity control

ROS2 data interface

Topic	Message Type	Description
/robot_0/odom	nav_msgs/Odometry	Odometry of robot_0
/robot_0/control_cmd	std_msgs/Float32MultiArray	Control command of robot_0
/robot_0/debug_angular_velocity	nav_msgs/Odometry	Debug angular velocity of robot_0
/robot_0/prop_force	std_msgs/Float32MultiArray	Propeller force of robot_0
/robot_0/prop_torque	std_msgs/Float32MultiArray	Propeller torque of robot_0

ROS2 <-> ROS1 communication bridge

This bridge will automatically map the ROS2 topics to ROS1 topics. This is useful for the ROS1 packages that are not yet ported to ROS2.

cd ros_bridge
docker-compose up -d

Use cases

Script	Description	Visualization
apps/00_single_uav.py	Single UAV simulation with position control and ROS2 interface
apps/01_multi_uav.py	Multi-UAV simulation with position control and ROS2 interface
apps/data_apps/00_object_based_sdg.py	Object-based SDG Generatior for 6D pose estimation
apps/data_apps/01_path_tracking_sdg.py	Path tracking SDG Generator for perception tasks