Add instructions to run the hybrid simulation

[ahcorde]

Signed-off-by: ahcorde ahcorde@gmail.com

🎉 New feature

Summary

Add instructions to run the hybrid simulation

Test it

Follow this README.md

Remember to checkout this branch in the ign-omni repository.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[koonpeng]

Ignition crashes when I start the simulation. I'm using galactic+ediface, ignition is using the system instance, the ign-omni workspace is not sourced.

edit: issue was due to some other versions of ignition installed and it's linking to the wrong version.

[koonpeng]

After many Multiple texture coordinate sets exist in submesh warnings, the connector crashes with

[Err] [SystemPaths.cc:467] Could not resolve file [FANS_Albedo.png]
[Err] [SystemPaths.cc:467] Could not resolve file [FANS_Metalness.png]
[Err] [SystemPaths.cc:467] Could not resolve file [FANS_Normal.png]
[Err] [SystemPaths.cc:467] Could not resolve file [FANS_Roughness.png]
[Dbg] [Scene.cpp:649] added model [Depot]
[Wrn] [ColladaLoader.cc:2394] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:2394] Triangle input semantic: 'COLOR' is currently not supported
[Err] [Scene.cpp:753] This kind of sensor [] is not supported
[Err] [Scene.cpp:381] Failed to add sensor [/depot/standard_dock/green_buoy_link/green_buoy]
[Err] [Scene.cpp:622] Failed to update model [standard_dock]
[Err] [Scene.cpp:646] Failed to add model [standard_dock]
[Err] [Scene.cpp:840] Failed to init scene

[ahcorde]

After many Multiple texture coordinate sets exist in submesh warnings, the connector crashes with

[Err] [SystemPaths.cc:467] Could not resolve file [FANS_Albedo.png]
[Err] [SystemPaths.cc:467] Could not resolve file [FANS_Metalness.png]
[Err] [SystemPaths.cc:467] Could not resolve file [FANS_Normal.png]
[Err] [SystemPaths.cc:467] Could not resolve file [FANS_Roughness.png]
[Dbg] [Scene.cpp:649] added model [Depot]
[Wrn] [ColladaLoader.cc:2394] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:2394] Triangle input semantic: 'COLOR' is currently not supported
[Err] [Scene.cpp:753] This kind of sensor [] is not supported
[Err] [Scene.cpp:381] Failed to add sensor [/depot/standard_dock/green_buoy_link/green_buoy]
[Err] [Scene.cpp:622] Failed to update model [standard_dock]
[Err] [Scene.cpp:646] Failed to add model [standard_dock]
[Err] [Scene.cpp:840] Failed to init scene

Here you can find a fix #22. Do you mind to try again ?

[koonpeng]

Here you can find a fix #22. Do you mind to try again?

The connector is able to run now. But I'm still not able to get the lidar scans.

This part in the instructions:

Configure the Plugin:

The frame_id should be turtlebot4/rplidar_link/rplidar
The laser scan topic /scan_issac
The lidar prim /depot/turtlebot4/rplidar_link/rplidar

I don't have the lidar prim /depot/turtlebot4/rplidar_link/rplidar.

I also don't see anything in rviz.

[ahcorde]

do you mind to try with this branch ahcorde/issacsim_2_ignition ?

[koonpeng]

do you mind to try with this branch ahcorde/issacsim_2_ignition ?

Same results, but i notice that when i listen to /scan_ignition rviz reports lots of such errors

[rviz2-15] [INFO] [1648190813.067043341] [rviz2]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 109.616 for reason 'discarding message because the queue is full'

There are no messages when listen on /scan and /scan_issac.

Other than that, the simulation seems to work, I can move the robot etc.

[koonpeng]

Should this be listening on /scan and republishing to /scan_issac instead? I tried changing this but still can't get the sensors to show up.

[adlarkin]

Here are a few comments that I have about the documentation I went through (tutorials 1 and 2):

---

After running the last command in https://github.com/ignitionrobotics/ign-omni/blob/ahcorde/hybrid_instructions/tutorials/01_compile.md (colcon build --merge-install --event-handlers console_direct+ --packages-up-to ignition-omniverse1), I see the following warning (the build seemed to succeed, though):

WARNING:colcon.colcon_cmake.task.cmake.build:Could not run installation step for package 'ignition-omniverse1' because it has no 'install' target

Is this something to worry about, or can it be ignored? If it can be ignored, I think it would be worth mentioning this in the documentation.

---

In the Run Ignition section of tutorial 2 (quickstart), I think the following command can be removed because Fortress binaries were installed in tutorial 1:

source ~/ignition-fortress/install/setup.bash

---

In the Run the connector section of tutorial 2 (quickstart), it looks like a command is missing (note how there's nothing after And finally run::

---

In the Run IsaacSim section of tutorial 2 (quickstart), there's an instruction to Launch IsaacSim and activate the live sync. The gif below this line already has IsaacSim running, but can instructions be shown on how to start IsaacSim if it's not running already?