2023RobotROS

ROS Code for the 2023 Robot

Requirements

---

• Ubuntu 20.04
• RTX Enabled GPU

Workstation Setup steps

1. ROS2 Setup

• Install ROS2 Galactic
  sudo ./scripts/install-ros2-galactic.sh

• Install ROS VS Code Extension
  Go to extensions and search for ROS and click install

• Install Workspace Dependencies
  Press F1, and run this command:
  ROS: Install ROS Dependencies for this workspace using rosdep

• Build the packages
  Shortcut: ctrl + shift + b
  or
  Terminal: colcon build --symlink-install

• Done with ROS2 Setup

2. Isaac Sim Setup

• Install Nvidia Drivers
  sudo apt-get install nvidia-driver-515

• Download Omniverse Launcher
  https://www.nvidia.com/en-us/omniverse/download/

• Run Omniverse
  chmod +x omniverse-launcher-linux.AppImage
./omniverse-launcher-linux.AppImage

• Install Cache and Isaac Sim from the exchange
  Wait until both are downloaded and installed.

• Make ROS2 the default bridge
  sudo ./scripts/use-isaac-ros2-bridge.sh

• Launch Isaac Sim
  Initial load can take a while

• Open the extension manager
  Window -> Extensions

• Import the Swerve Bot Extension
  Hit the gear icon near the search bar.
  Inside Extension Search Paths, Hit the + icon and put the path
  <path-to-repo>/2023RobotROS/isaac

• Enable the Extension
  Search for the Swerve Bot extension.
  Click on the extension.
  Click on the enable toggle switch and Autoload checkbox

• DONE with Isaac Sim Setup

Running Swerve Bot

1. Connect an xbox controller
2. Hit load on the Import URDF extension window
3. Press Play on the left hand side
4. From this repo directory run
   source install/setup.bash
ros2 launch swerve_description isaac.launch.py
5. Use the controller to move the robot around