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

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. Clone the **simulation** repository of SpaceROS into a ROS2 workspace and follow the setup steps mendtioned in **simulation/curiosity_nvidia_isaac/README.md** to setup Nvidia ISAAC Simulation.
+2. Once NVIDIA ISAAC is up and runnnig, clone the **demos** repository of SpaceROS in the same ROS2 workspace as in step 1.
+3. Build the code using _colocon build_ following standard ROS2 build steps. This will build both **mars_rover_nvidia_isaac** and **mars_rover_teleop** pacakges along with any dependency in the simulation reository as well.
+4. Open a new terminal, go to the created ROS2 workspace and execute the following commands to run the demo
+   ```bash
+    source install/local_setup.bash
+    ros2 launch mars_rover_nvidia_isaac mars_rover_nvidia_isaac_launch.py
+    ```
+5. Above command will load all the supported controllers and launch RViz2(_half width and right aligned_) with the custom teleop plugin. _(Plugin will be located towards bottom-left on the rviz2 window)_
+<p align="center">
+  <img src="./documents/images/spaceROS_Rviz.png" alt="Controllers and RViz2 Plugin">
+</p>
+
+6. At this point rover in Nvidia ISAAC simulation should move as per the tele-op command given.

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

mars_rover_nvidia_isaac/config/isaac_mars_rover_control.yaml

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+arm_joint_trajectory_controller:
+  joints:
+    - arm_01_joint
+    - arm_02_joint
+    - arm_03_joint
+    - arm_04_joint
+    - arm_tools_joint
+  # interface_name: position  # NOT supported currently
+  # command_interfaces:
+  #   - position
+  # state_interfaces:
+  #   - position
+  #   - velocity
+
+mast_joint_trajectory_controller:
+  joints:
+    - mast_p_joint
+    - mast_02_joint
+    - mast_cameras_joint
+  # interface_name: position  # NOT supported currently
+  # command_interfaces:
+  #   - position
+  # state_interfaces:
+  #   - position
+  #   - velocity
+
+wheel_velocity_controller:
+  joints:
+    - front_wheel_L_joint
+    - middle_wheel_L_joint
+    - back_wheel_L_joint
+    - front_wheel_R_joint
+    - middle_wheel_R_joint
+    - back_wheel_R_joint
+  # interface_name: velocity  # NOT supported currently
+
+
+steer_position_controller:
+  joints:
+    - suspension_steer_F_L_joint
+    - suspension_steer_B_L_joint
+    - suspension_steer_F_R_joint
+    - suspension_steer_B_R_joint
+  # interface_name: position  # NOT supported currently
+  # command_interfaces:
+  #   - position
+  # state_interfaces:
+  #   - position
+  #   - velocity
+
+wheel_tree_position_controller:
+  joints:
+    - suspension_arm_F_L_joint
+    - suspension_arm_B_L_joint
+    - suspension_arm_F_R_joint
+    - suspension_arm_B_R_joint
+  # command_interfaces:  # NOT supported currently
+  #   - effort
+  # state_interfaces:
+  #   - position
+  #   - velocity
+  #   - effort
+  # gains: # Currently, not being applied through code, they are set directly in ISAAC
+  #   suspension_arm_F_L_joint:
+  #     p: 2200.0
+  #     i: 10.0
+  #     d: 10.0
+  #   suspension_arm_B_L_joint:
+  #     p: 4200.0
+  #     i: 10.0
+  #     d: 10.0
+  #   suspension_arm_F_R_joint:
+  #     p: 2200.0
+  #     i: 10.0
+  #     d: 10.0
+  #   suspension_arm_B_R_joint:
+  #     p: 4200.0
+  #     i: 10.0
+  #     d: 10.0
+  # enable:
+  #   suspension_arm_F_L_joint:
+  #     status: 1
+  #   suspension_arm_B_L_joint:
+  #     status: 1
+  #   suspension_arm_F_R_joint:
+  #     status: 1
+  #   suspension_arm_B_R_joint:
+  #     status: 1