ionic_demo

Ionic demo world and resources

Usage:

git clone https://github.com/gazebosim/ionic_demo
cd ionic_demo/ionic_demo/worlds
gz sim -v 4 ionic.sdf

Running the navigation demo

This demo requires at least ROS 2 Jazzy.

Create a new colcon workspace, install dependencies and build the packages,

mkdir -p ~/ionic_ws/src
cd ~/ionic_w/src
git clone https://github.com/gazebosim/ionic_demo

source /opt/ros/jazzy/setup.bash
rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y

cd ~/ionic_ws/
colcon build

Launch the demo,

source ~/ionic_ws/install/setup.bash
ros2 launch ionic_demo ionic_navigation_demo_launch.py headless:=0

On rviz, initialize the position at the origin towards the right of the map, using the 2D Pose Estimate button.

Navigation commands can now be sent via the Nav2 Goal button.

Running the Open-RMF demo

In order to minimize race conditions, we recommend running each launch file one after the other.

Start the dashboard docker image,

docker run --network host -it --rm \
  -e RMF_SERVER_URL=http://localhost:8000 \
  -e TRAJECTORY_SERVER_URL=http://localhost:8006 \
  ghcr.io/gazebosim/ionic_demo_rmf_dashboard:main

Start the API server docker image, make sure to note the ROS_DOMAIN_ID and RMW_IMPLEMENTATION environment variables. This starts the API server on localhost:8000. Example values: ROS_DOMAIN_ID=1 and RMW_IMPLEMENTATION=rmw_fastrtps_cpp

docker run --network host -it --rm \
  -e ROS_DOMAIN_ID=<ROS_DOMAIN_ID> \
  -e RMW_IMPLEMENTATION=<RMW_IMPLEMENTATION> \
  ghcr.io/open-rmf/rmf-web/api-server:rolling

The dashboard will be accessible at localhost:3000 by default.

Spawn the world and arm,

ros2 launch ionic_demo ionic_moveit_demo_launch.py

Spawn the turtlebot4, start its nav2 stack, moveit plugin for the arm, and all other Open-RMF related nodes. This also lets the fleet adapter know to communicate with the API server on localhost:8000/_internal.

ros2 launch ionic_demo ionic_rmf_demo_launch.py server_uri:="ws://localhost:8000/_internal"

Dispatch delivery or patrol tasks via rmf-web.

Or dispatch the delivery task manually,

ros2 run rmf_demos_tasks dispatch_delivery -p bar -ph moveit_dispenser -d table_4 -dh coke_ingestor --use_sim_time -st 0

Troubleshooting

• If the demo world is laggy, try disabling global illumination by editing the ionic_demo/worlds/ionic.sdf world file and setting the GlobalIllumincationVct plugin's property to false.

• If there are communication/middleware related issues while running the demos, we recommend trying again using a different RMW implementation, for example rmw_cyclonedds_cpp.