Isaac ROS 0.10.1 (DP)

NVIDIA-ISAAC-ROS · Jul 12, 2022 · 1f3489e · 1f3489e
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diff --git a/.gitattributes b/.gitattributes
@@ -15,5 +15,4 @@
 
 # ROS Bag
 nvblox_nav2/test/test_cases/rosbags/** filter=lfs diff=lfs merge=lfs -text
-resources/rosbags** filter=lfs diff=lfs merge=lfs -text
 
diff --git a/README.md b/README.md
@@ -22,6 +22,7 @@ The figure below shows a simple system utilizing nvblox for path planning.
     - [Docker](#docker)
   - [Quickstart](#quickstart)
   - [Next Steps](#next-steps)
+    - [Try More Examples](#try-more-examples)
     - [Customize your Dev Environment](#customize-your-dev-environment)
   - [Package Reference](#package-reference)
     - [`nvblox_nav2`](#nvblox_nav2)
@@ -86,7 +87,7 @@ To simplify development, we strongly recommend leveraging the Isaac ROS Dev Dock
 
     ```bash
     cd /workspaces/isaac_ros-dev/ && \
-        rosdep install -i -r --from-paths src --rosdistro humble -y --skip-keys "libopencv-dev libopencv-contrib-dev libopencv-imgproc-dev python-opencv python3-opencv"
+        rosdep install -i -r --from-paths src --rosdistro humble -y --skip-keys "libopencv-dev libopencv-contrib-dev libopencv-imgproc-dev python-opencv python3-opencv nvblox"
     ```
 
 6. Build and source the workspace:  
@@ -115,11 +116,14 @@ To simplify development, we strongly recommend leveraging the Isaac ROS Dev Dock
 
 10. In the **second terminal**, play the ROS Bag:
     ```bash
-    ros2 bag play src/isaac_ros_nvblox/nvblox_nav2/test/test_cases/rosbags/nvblox_pol
+    ros2 bag play src/isaac_ros_nvblox/nvblox_nav2/test/test_cases/rosbags/nvblox_pol --remap left/depth:=depth_left left/camera_info:=camera_info_left left/rgb:=rgb_left
     ```
 You should see the robot reconstructing a mesh, with a costmap overlaid on top.
 
 ## Next Steps
+### Try More Examples
+To continue your exploration, check out the following suggested examples:
+- [Tutorial with Isaac Sim](./docs/tutorial-isaac-sim.md)
 ### Customize your Dev Environment
 To customize your development environment, reference [this guide](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/docs/modify-dockerfile.md).
 

diff --git a/docs/tutorial-isaac-sim.md b/docs/tutorial-isaac-sim.md
@@ -0,0 +1,28 @@
+# Tutorial with Isaac Sim
+> **Note: Isaac Sim 2022.1.0 published on 6/3/2022 does not support ROS2 Humble. Please follow one of the [workarounds](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/docs/isaac-sim-sil-setup.md#isaac-sim-202210-workarounds) before continuing with the tutorial**
+1. Complete the [Quickstart section](../README.md#quickstart) in the main README.
+2. Launch the Docker container using the `run_dev.sh` script:
+    ```bash
+    cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \
+      ./scripts/run_dev.sh
+    ```
+3. Inside the container, build and source the workspace:  
+    ```bash
+    cd /workspaces/isaac_ros-dev && \
+      colcon build --symlink-install && \
+      source install/setup.bash
+    ```
+4. Install Isaac Sim following the steps in the [Isaac ROS Isaac Sim Setup Guide](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/docs/isaac-sim-sil-setup.md)
+5. Start the simulation by running the below command in a terminal **outside the Docker container**: 
+    ```bash 
+    alias omni_python='~/.local/share/ov/pkg/isaac_sim-2022.1.0/python.sh' && \
+      omni_python ~/workspaces/isaac_ros-dev/src/isaac_ros_nvblox/nvblox_isaac_sim/omniverse_scripts/carter_warehouse.py
+    ```
+> **Note:** If you are using a different version of Isaac Sim, replace `isaac_sim-2022.1.0` with your version found at `'~/.local/share/ov/pkg/`
+
+6. Launch the pre-composed pipeline launchfile: 
+    ```bash 
+    ros2 launch nvblox_nav2 carter_sim.launch.py
+    ```
+7. Click on the `2D Goal Pose` button. You should see the mesh, costmap, and the robot moving towards the goal location as shown below:
+<div align="center"><img src="../resources/isaac_sim_nvblox_nav2.gif"/></div>
diff --git a/nvblox_nav2/launch/carter_sim.launch.py b/nvblox_nav2/launch/carter_sim.launch.py
@@ -19,9 +19,6 @@
 
 
 def generate_launch_description():
-
-    use_sim_time = LaunchConfiguration('use_sim_time', default='True')
-
     param_dir = LaunchConfiguration(
         'params_file',
         default=os.path.join(
@@ -43,8 +40,6 @@ def generate_launch_description():
     rviz_config_dir = os.path.join(get_package_share_directory(
         'nvblox_nav2'), 'config', 'carter_nvblox_nav2.rviz')
 
-    lifecycle_nodes = ['map_server']
-
     return LaunchDescription(
         [
             DeclareLaunchArgument(
@@ -59,13 +54,6 @@ def generate_launch_description():
             DeclareLaunchArgument(
                 'run_nav2', default_value='True',
                 description='Whether to run nav2'),
-            Node(
-                package='nav2_lifecycle_manager', executable='lifecycle_manager',
-                name='lifecycle_manager_map', output='screen',
-                parameters=[{'use_sim_time': use_sim_time},
-                            {'autostart': True},
-                            {'node_names': lifecycle_nodes}],
-                condition=IfCondition(LaunchConfiguration('run_nav2'))),
             IncludeLaunchDescription(
                 PythonLaunchDescriptionSource(
                     os.path.join(nav2_bringup_launch_dir, 'rviz_launch.py')),
@@ -77,25 +65,24 @@ def generate_launch_description():
                 PythonLaunchDescriptionSource(
                     os.path.join(
                         nav2_bringup_launch_dir, 'navigation_launch.py')),
-                launch_arguments={'use_sim_time': use_sim_time,
-                                  'params_file': param_dir, 'autostart': 'True'}.items(),
-                condition=IfCondition(
-                    LaunchConfiguration('run_nav2')),
-            ),
+                launch_arguments={
+                    'use_sim_time': LaunchConfiguration('use_sim_time'),
+                    'params_file': param_dir, 'autostart': 'True',
+                    'use_composition': 'False'}.items(),
+                condition=IfCondition(LaunchConfiguration('run_nav2')),),
             Node(
                 package='nvblox_ros', executable='nvblox_node',
-                parameters=[nvblox_param_dir, {'use_sim_time': use_sim_time}],
+                parameters=[nvblox_param_dir,
+                            {'use_sim_time': LaunchConfiguration('use_sim_time')}],
                 output='screen',
-                remappings=[('depth/image', '/left/depth'),
-                            ('depth/camera_info', '/left/camera_info'),
-                            ('color/image', '/left/rgb'),
-                            ('color/camera_info', '/left/camera_info'), ]),
+                remappings=[('depth/image', '/depth_left'),
+                            ('depth/camera_info', '/camera_info_left'),
+                            ('color/image', '/rgb_left'),
+                            ('color/camera_info', '/camera_info_left'), ]),
             Node(
                 package='tf2_ros', executable='static_transform_publisher',
-                parameters=[{'use_sim_time': use_sim_time}],
+                parameters=[{'use_sim_time': LaunchConfiguration('use_sim_time')}],
                 output='screen',
                 arguments=['0.0', '0.0', '-0.3', '0.0', '0.0', '0.0', 'map',
                            'odom'],
-                condition=IfCondition(
-                    LaunchConfiguration('run_nav2'))),
-        ])
+                condition=IfCondition(LaunchConfiguration('run_nav2'))), ])
diff --git a/nvblox_nav2/launch/carter_sim_elbrus.launch.py b/nvblox_nav2/launch/carter_sim_elbrus.launch.py
@@ -122,7 +122,8 @@ def generate_launch_description():
                     os.path.join(
                         nav2_bringup_launch_dir, 'navigation_launch.py')),
                 launch_arguments={'use_sim_time': use_sim_time,
-                                  'params_file': param_dir, 'autostart': 'True'}.items(),
+                                  'params_file': param_dir,
+                                  'autostart': 'True'}.items(),
                 condition=IfCondition(
                     LaunchConfiguration('run_nav2'))
             ),

diff --git a/nvblox_nav2/params/carter_nav2.yaml b/nvblox_nav2/params/carter_nav2.yaml
@@ -1,31 +1,59 @@
 bt_navigator:
   ros__parameters:
     use_sim_time: True
-    global_frame: map
+    global_frame: odom
     robot_base_frame: base_link
     odom_topic: /odom
-    default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
+    bt_loop_duration: 20
+    default_server_timeout: 40
+    # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
+    # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
+    # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
+    # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
     plugin_lib_names:
     - nav2_compute_path_to_pose_action_bt_node
+    - nav2_compute_path_through_poses_action_bt_node
+    - nav2_smooth_path_action_bt_node
     - nav2_follow_path_action_bt_node
-    - nav2_back_up_action_bt_node
     - nav2_spin_action_bt_node
     - nav2_wait_action_bt_node
+    - nav2_back_up_action_bt_node
+    - nav2_drive_on_heading_bt_node
     - nav2_clear_costmap_service_bt_node
     - nav2_is_stuck_condition_bt_node
     - nav2_goal_reached_condition_bt_node
     - nav2_goal_updated_condition_bt_node
+    - nav2_globally_updated_goal_condition_bt_node
+    - nav2_is_path_valid_condition_bt_node
     - nav2_initial_pose_received_condition_bt_node
     - nav2_reinitialize_global_localization_service_bt_node
     - nav2_rate_controller_bt_node
     - nav2_distance_controller_bt_node
     - nav2_speed_controller_bt_node
+    - nav2_truncate_path_action_bt_node
+    - nav2_truncate_path_local_action_bt_node
+    - nav2_goal_updater_node_bt_node
     - nav2_recovery_node_bt_node
     - nav2_pipeline_sequence_bt_node
     - nav2_round_robin_node_bt_node
     - nav2_transform_available_condition_bt_node
     - nav2_time_expired_condition_bt_node
+    - nav2_path_expiring_timer_condition
     - nav2_distance_traveled_condition_bt_node
+    - nav2_single_trigger_bt_node
+    - nav2_is_battery_low_condition_bt_node
+    - nav2_navigate_through_poses_action_bt_node
+    - nav2_navigate_to_pose_action_bt_node
+    - nav2_remove_passed_goals_action_bt_node
+    - nav2_planner_selector_bt_node
+    - nav2_controller_selector_bt_node
+    - nav2_goal_checker_selector_bt_node
+    - nav2_controller_cancel_bt_node
+    - nav2_path_longer_on_approach_bt_node
+    - nav2_wait_cancel_bt_node
+    - nav2_spin_cancel_bt_node
+    - nav2_back_up_cancel_bt_node
+    - nav2_drive_on_heading_cancel_bt_node
 
 bt_navigator_rclcpp_node:
   ros__parameters:
@@ -38,8 +66,9 @@ controller_server:
     min_x_velocity_threshold: 0.001
     min_y_velocity_threshold: 0.5
     min_theta_velocity_threshold: 0.001
+    failure_tolerance: 0.3
     progress_checker_plugin: "progress_checker"
-    goal_checker_plugin: "goal_checker"
+    goal_checker_plugin: ["general_goal_checker"]
     controller_plugins: ["FollowPath"]
 
     # Progress checker parameters
@@ -48,7 +77,7 @@ controller_server:
       required_movement_radius: 0.5
       movement_time_allowance: 10.0
     # Goal checker parameters
-    goal_checker:
+    general_goal_checker:
       plugin: "nav2_controller::SimpleGoalChecker"
       xy_goal_tolerance: 0.25
       yaw_goal_tolerance: 0.25
@@ -59,7 +88,7 @@ controller_server:
       debug_trajectory_details: True
       min_vel_x: 0.0
       min_vel_y: 0.0
-      max_vel_x: 3.0
+      max_vel_x: 1.0
       max_vel_y: 0.0
       max_vel_theta: 0.5
       min_speed_xy: 0.0
@@ -103,26 +132,23 @@ controller_server_rclcpp_node:
 local_costmap:
   local_costmap:
     ros__parameters:
-      update_frequency: 4.0
-      publish_frequency: 4.0
-      global_frame: map
+      update_frequency: 10.0
+      publish_frequency: 10.0
+      global_frame: odom
       robot_base_frame: base_link
       use_sim_time: True
       rolling_window: True
-      width: 20
-      height: 20
-      resolution: 0.05
-      robot_radius: 0.36
+      width: 10
+      height: 10
+      resolution: 0.10
+      robot_radius: 0.4
       plugins: ["nvblox_layer"]
       nvblox_layer:
         plugin: "nvblox::nav2::NvbloxCostmapLayer"
         enabled: True
-        max_obstacle_distance: 1.2
-        inflation_distance: 0.6
+        max_obstacle_distance: 1.0
+        inflation_distance: 0.4
       always_send_full_costmap: True
-      static_layer:
-        plugin: "nav2_costmap_2d::StaticLayer"
-        map_subscribe_transient_local: True
   local_costmap_client:
     ros__parameters:
       use_sim_time: True
@@ -133,24 +159,24 @@ local_costmap:
 global_costmap:
   global_costmap:
     ros__parameters:
-      update_frequency: 1.0
-      publish_frequency: 1.0
-      global_frame: map
+      update_frequency: 10.0
+      publish_frequency: 10.0
+      global_frame: odom
       robot_base_frame: base_link
       use_sim_time: True
-      rolling_window: False
+      rolling_window: True
       width: 200
       height: 200
-      robot_radius: 0.36
-      resolution: 0.05
+      robot_radius: 0.4
+      resolution: 0.10
       origin_x: -100.0
       origin_y: -100.0
       plugins: ["nvblox_layer"]
       nvblox_layer:
         plugin: "nvblox::nav2::NvbloxCostmapLayer"
         enabled: True
-        max_obstacle_distance: 1.2
-        inflation_distance: 0.6
+        max_obstacle_distance: 1.0
+        inflation_distance: 0.4
       static_layer:
         plugin: "nav2_costmap_2d::StaticLayer"
         enabled: True
@@ -169,18 +195,19 @@ global_costmap:
 map_server:
   ros__parameters:
     use_sim_time: True
-    yaml_filename: "carter_warehouse_navigation.yaml"
+    yaml_filename: "turtlebot3_world.yaml"
 
 map_saver:
   ros__parameters:
     use_sim_time: True
-    save_map_timeout: 5000
+    save_map_timeout: 5.0
     free_thresh_default: 0.25
     occupied_thresh_default: 0.65
+    map_subscribe_transient_local: True
 
 planner_server:
   ros__parameters:
-    expected_planner_frequency: 4.0
+    expected_planner_frequency: 20.0
     use_sim_time: True
     planner_plugins: ["GridBased"]
     GridBased:
@@ -193,24 +220,50 @@ planner_server_rclcpp_node:
   ros__parameters:
     use_sim_time: True
 
-recoveries_server:
+smoother_server:
+  ros__parameters:
+    use_sim_time: True
+    smoother_plugins: ["simple_smoother"]
+    simple_smoother:
+      plugin: "nav2_smoother::SimpleSmoother"
+      tolerance: 1.0e-10
+      max_its: 1000
+      do_refinement: True
+
+behavior_server:
   ros__parameters:
     costmap_topic: local_costmap/costmap_raw
     footprint_topic: local_costmap/published_footprint
-    cycle_frequency: 10.0
-    recovery_plugins: ["spin", "backup", "wait"]
+    cycle_frequency: 5.0
+    behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
     spin:
-      plugin: "nav2_recoveries/Spin"
+      plugin: "nav2_behaviors/Spin"
     backup:
-      plugin: "nav2_recoveries/BackUp"
+      plugin: "nav2_behaviors/BackUp"
+    drive_on_heading:
+      plugin: "nav2_behaviors/DriveOnHeading"
     wait:
-      plugin: "nav2_recoveries/Wait"
+      plugin: "nav2_behaviors/Wait"
     global_frame: odom
     robot_base_frame: base_link
-    transform_timeout: 0.1
-    use_sim_time: True
+    transform_tolerance: 0.2
+    use_sim_time: true
     simulate_ahead_time: 2.0
     max_rotational_vel: 1.0
     min_rotational_vel: 0.4
     rotational_acc_lim: 3.2
 
+robot_state_publisher:
+  ros__parameters:
+    use_sim_time: True
+
+waypoint_follower:
+  ros__parameters:
+    loop_rate: 20
+    stop_on_failure: false
+    waypoint_task_executor_plugin: "wait_at_waypoint"
+    wait_at_waypoint:
+      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
+      enabled: True
+      waypoint_pause_duration: 200
+
Original file line number	Diff line number	Diff line change
Expand Up		@@ -15,5 +15,4 @@

		# ROS Bag
		nvblox_nav2/test/test_cases/rosbags/** filter=lfs diff=lfs merge=lfs -text
		resources/rosbags** filter=lfs diff=lfs merge=lfs -text