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ROS2 simulation device packages to connect unity based multi-robot simulator CLOisim.

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# cloisim_ros (jazzy version)

ROS2 simulation device packages to connect CLOiSim(the unity3D based multi-robot simulator).

## Download CLOiSim Simulator

- Latest version: [link](https://github.com/lge-ros2/cloisim/releases/latest)
- All Releases: [link](https://github.com/lge-ros2/cloisim/releases)

## Install ROS2 jazzy

follow the guideline on below link.

<https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debians.html>

## Prerequisite

```shell
mkdir -p ~/cloisim_ws/src
cd ~/cloisim_ws/src
git clone --recursive https://github.com/lge-ros2/cloisim_ros.git -b jazzy

sudo apt update
sudo apt install -y python3-rosdep

sudo rosdep init
rosdep update
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro jazzy
```

## Build

Set up ROS2 environment first

```shell
source /opt/ros2/jazzy/setup.bash
cd ~/cloisim_ws
colcon build --symlink-install --packages-up-to cloisim_ros_bringup
```

## Test

Build with testing enabled and run tests:

```shell
cd ~/cloisim_ws
colcon build --cmake-args -DBUILD_TESTING=ON
colcon test --event-handlers console_direct+
colcon test-result --all
```

To test specific packages only:

```shell
colcon build --packages-select cloisim_ros_lidar cloisim_ros_camera --cmake-args -DBUILD_TESTING=ON
colcon test --packages-select cloisim_ros_lidar cloisim_ros_camera --event-handlers console_direct+
colcon test-result --all
```

## Pre-push hook

To block pushes when tests fail, enable the repo-local git hook:

```shell
git config core.hooksPath .githooks
chmod +x .githooks/pre-push
```

By default the hook runs in `auto` mode. It inspects the refs being pushed, maps changed files back to colcon packages, builds the changed packages plus their dependents, and runs tests only for the directly changed packages.

```shell
git config hooks.cloisimRosPrePushScope auto
```

To force a single package instead:

```shell
git config hooks.cloisimRosPrePushScope package
git config hooks.cloisimRosPrePushPackage cloisim_ros_base
```

That mode runs:

```shell
colcon build --packages-up-to cloisim_ros_base --cmake-args -DBUILD_TESTING=ON
colcon test --packages-select cloisim_ros_base --event-handlers console_direct+
colcon test-result --verbose --test-result-base build/cloisim_ros_base
```

To force full workspace validation:

```shell
git config hooks.cloisimRosPrePushScope workspace
```

That mode runs:

```shell
colcon build --cmake-args -DBUILD_TESTING=ON
colcon test --event-handlers console_direct+
colcon test-result --all --verbose
```

Use `workspace` only when you intentionally want to pay for every package and accept unrelated package failures blocking the push.

To switch back to auto detection:

```shell
git config hooks.cloisimRosPrePushScope auto
```

To bypass it temporarily:

```shell
SKIP_CLOISIM_ROS_PRE_PUSH=1 git push
```

## Usage

Set environment variable, if the server is not localhost

```shell
export CLOISIM_BRIDGE_IP='xxx.xxx.xxx.xxx'
export CLOISIM_SERVICE_PORT=8080
```

check here [details](https://github.com/lge-ros2/cloisim_ros/tree/jazzy/cloisim_ros_bringup) for bring-up guide

The default max retry number is 5, if you want to change set environment variable.

```shell
export CLOISIM_CONNECTION_MAX_RETRY=10
```

### Run cloisim_ros (robot + world)

#### DDS with cyclone dds

Recommended to use cyclone DDS and config file
Place the config XML file in your desired location and set the environment variable as shown below:

```shell
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=file:///$PWD/cloisim_ros/cyclonedds_config.xml

sudo sysctl -w net.core.rmem_max=16777216 \
            -w net.core.rmem_default=16777216 \
            -w net.core.wmem_max=16777216 \
            -w net.core.wmem_default=16777216
```

#### Shared Memory DDS with FastRTPS

It's experimental feature for cloisim_ros. Use absolute path in FASTRTPS_DEFAULT_PROFILES_FILE environment variable.

For example,

```shell
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export FASTRTPS_DEFAULT_PROFILES_FILE=/home/cloi/src/cloisim_ros/fastrtps_shared_profile.xml
```

#### Turn off single mode(=multi robot mode)

Apply namespaceas each robot as a multi robot mode.

**Strongly recommend to use this method.**

```shell
ros2 launch cloisim_ros_bringup bringup_launch.py
ros2 launch cloisim_ros_bringup bringup_launch.py single_mode:=False
```

#### Turn on single Mode

It shall NOT be applied namespace for robot and the number of robot must BE single in world environment.

```shell
ros2 launch cloisim_ros_bringup bringup_launch.py single_mode:=True
```

## Running CLOiSim

It provides a script to run CLOiSim easily.

```shell
ros2 launch cloisim_ros_bringup cloisim_launch.py sim_path:=/opt/CLOiSim/CLOiSim-2.2.0 world:=lg_seocho.world
```

## Using Docker

Run below command after clone this repository(this branch).

### Build Docker image

```shell
git clone https://github.com/lge-ros2/cloisim_ros.git -b jazzy
cd cloisim_ros
docker build -t cloisim_ros .
```

### Running container

You can add possible parameters as described above. ex) target_model, target_parts_type or target_parts_name

#### multi robot mode

```shell
docker run -it --rm --net=host -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID cloisim_ros
```

#### single robot mode

```shell
docker run -it --rm --net=host -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID cloisim_ros single_mode:=True
```

#### multi robot mode with default network driver(bridge)

```shell
docker run -it --rm -e CLOISIM_BRIDGE_IP='192.168.0.125' -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID cloisim_ros
```

#### single robot mode with default network driver(bridge)

```shell
docker run -it --rm -e CLOISIM_BRIDGE_IP='192.168.0.125' -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID cloisim_ros single_mode:=True
```

You can set bridge ip using below command.

```shell
export CLOISIM_BRIDGE_IP=$(ip addr show dev docker0 | grep "inet" | awk 'NR==1{print $2}' | cut -d'/' -f 1)
echo $CLOISIM_BRIDGE_IP
docker run -it --rm -e CLOISIM_BRIDGE_IP=$CLOISIM_BRIDGE_IP -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID cloisim_ros
```

## Version info

- Please refer to each branch for ROS2 distro-version you want
  - [jazzy](https://github.com/lge-ros2/cloisim_ros/tree/jazzy)
  - [humble](https://github.com/lge-ros2/cloisim_ros/tree/humble)
  - [foxy](https://github.com/lge-ros2/cloisim_ros/tree/foxy)
  - [dashing](https://github.com/lge-ros2/sim_device/tree/dashing)

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