NASA Challenge_[@magnivia4consult]_[Mars Rover Demo on NVIDIA ISAAC with RVIZ based teleop and a Controller Loader]

Dockerfile

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+
+FROM ros:humble
+
+# Define a few key variables
+ENV USERNAME=spaceros-user
+ENV HOME_DIR=/home/spaceros-user
+ENV DEMO_DIR=${HOME_DIR}/demo_ws
+ENV ROSDISTRO=humble
+
+
+# Disable prompting during package installation
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Get rosinstall_generator
+# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
+# the cache won't make it into the built image but will be maintained between steps.
+RUN sudo apt update && sudo apt install -y python3-pip \
+    ros-${ROSDISTRO}-control-msgs \
+    ros-${ROSDISTRO}-rviz-common \
+    ros-${ROSDISTRO}-rmw-cyclonedds-cpp \
+    ros-${ROSDISTRO}-geometry-msgs \
+    ros-${ROSDISTRO}-sensor-msgs \
+    ros-${ROSDISTRO}-std-msgs \
+    ros-${ROSDISTRO}-rosidl-typesupport-fastrtps-cpp \
+    ros-${ROSDISTRO}-rosidl-typesupport-fastrtps-c \
+    ros-${ROSDISTRO}-rviz2 \
+    && sudo rm -rf /var/lib/apt/lists/*
+
+RUN pip install vcstool
+RUN mkdir -p ${DEMO_DIR}/src
+WORKDIR ${DEMO_DIR}
+
+
+# Get the source for the dependencies
+COPY --chown=${USERNAME}:${USERNAME} demo_manual_pkgs.repos /tmp/
+RUN vcs import src < /tmp/demo_manual_pkgs.repos
+
+#RUN sudo apt-get update -y && rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO}
+
+
+# Build the demo
+RUN /bin/bash -c 'source /opt/ros/${ROSDISTRO}/setup.bash \
+     && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -Wno-dev'
+
+# Setup the entrypoint
+COPY ./entrypoint.sh /
+ENTRYPOINT ["/entrypoint.sh"]
+CMD ["bash"]

build.sh

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+#!/usr/bin/env bash
+
+ORG=openrobotics
+IMAGE=space_robots_demo
+TAG=latest
+
+VCS_REF=""
+VERSION=preview
+
+# Exit script with failure if build fails
+set -eo pipefail
+
+echo ""
+echo "##### Building Space ROS Demo Docker Image #####"
+echo ""
+
+docker build -t $ORG/$IMAGE:$TAG \
+    --build-arg VCS_REF="$VCS_REF" \
+    --build-arg VERSION="$VERSION" .
+
+echo ""
+echo "##### Space ROS Demo Docker Image Build Completed! #####"
+

demo_manual_pkgs.repos

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+repositories:
+  demos:
+    type: git
+    url: https://github.com/magnivia4Consulting/demos.git
+    version: main
+  simulation:
+    type: git
+    url: https://github.com/magnivia4Consulting/simulation.git
+    version: main

entrypoint.sh

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+#!/bin/bash
+set -e
+
+# Setup the Demo environment
+# source "${DEMO_DIR}/install/setup.bash"
+source "/home/spaceros-user/demo_ws/install/setup.bash"
+exec "$@"

mars_rover_nvidia_isaac/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(mars_rover_nvidia_isaac)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+# find_package(control_msgs REQUIRED)
+# find_package(geometry_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
+# find_package(rclcpp_action REQUIRED)
+find_package(rclpy REQUIRED)
+# find_package(simulation REQUIRED)
+find_package(std_msgs REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+install(DIRECTORY
+  config
+  launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_python_install_package(${PROJECT_NAME})
+
+install(PROGRAMS
+  mars_rover_nvidia_isaac/isaac_controller_loader.py
+  mars_rover_nvidia_isaac/nodes/wheel_velocity_controller.py
+  mars_rover_nvidia_isaac/nodes/steer_position_controller.py
+  mars_rover_nvidia_isaac/nodes/arm_joint_trajectory_controller.py
+  mars_rover_nvidia_isaac/nodes/mast_joint_trajectory_controller.py
+  mars_rover_nvidia_isaac/nodes/wheel_tree_position_controller.py
+  mars_rover_nvidia_isaac/nodes/run_isaac_demo.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()

mars_rover_nvidia_isaac/LICENSE

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mars_rover_nvidia_isaac/README.md

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+# Mars Rover Demo for Nvidia ISAAC
+
+This pacakge reconfigures the controllers implemented in **mars_rover** package into separate controllers and adds a controller loader to load the configuration from the **config > isaac_mars_rover_control.yaml** file in the config folder. The list of supported controllers is mentioned in the **config > isaac_controller_loader_config.yaml** file
+
+To run the demo with NVIDIA ISAAC, following steps need to be followed:
+
+1. **build.sh** script will create a docker image with name **openrobotics/space_robots_demo**
+
+2. To enable execution of UI applications in the container, execute the following command on the host PC:
+  ```bash
+  xhost +
+  ```
+3. Create a container from the docker image created in step 1, using the following command:
+  ```bash
+  docker run -it --env="DISPLAY=$DISPLAY" --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" --env="XAUTHORITY=$XAUTH" --volume="$XAUTH:$XAUTH" --net=host openrobotics/space_robots_demo bash
+  ```  
+4. Container will start in the directory **/home/spaceros-user/demo_ws**. 
+
+5. Follow the setup instructions mendtioned in **src/simulation/curiosity_nvidia_isaac/README.md** to setup Nvidia ISAAC Simulation.
+
+6. Once NVIDIA ISAAC is up and runnnig, execute the following commands (inside the container created in step 3) to run the demo
+   ```bash
+    cd /home/spaceros-user/demo_ws
+    source install/setup.bash
+    ros2 launch mars_rover_nvidia_isaac mars_rover_nvidia_isaac_launch.py
+    ```
+7. Above command will load all the supported controllers and launch RViz2 with the custom teleop plugin, camera window and LIDAR data enabled.
+<p align="center">
+  <img src="./documents/images/spaceROS_Rviz_Sensor.png" alt="Controllers and RViz2 Plugin">
+</p>
+
+8. At this point rover in Nvidia ISAAC simulation should move as per the tele-op command given and sensor data from ISAAC should be visible on RViz2

mars_rover_nvidia_isaac/config/isaac_controller_loader_config.yaml

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+supported_controllers:
+  wheel_velocity_controller
+  steer_position_controller
+  arm_joint_trajectory_controller
+  mast_joint_trajectory_controller
+  wheel_tree_position_controller