ExoMy - Model Repository

Disclaimer: This model and the simulation are still in development and subject to change. If you want to contribute to the project, contact us with your plans Discord.

This repository contains a URDF representation of ExoMy, that can be used in the visualization tool rviz2 and the simulation environment Gazebo.

The software is supposed to run on a more powerful machine than the Raspberry Pi. It was tested on a laptop with Ubuntu 20.04.

How to run

Clone this repository git clone https://github.com/esa-prl/ExoMy_Model next to the ExoMy_Software folder
Be sure to be on the branch ros2/foxy on both repositories
To allow programs being opened from within the docker container run xhost +local:docker
Change to the folder ExoMy_Model/docker
Start the Docker container with docker-compose run --name exomy_sim exomy_sim
Inside the docker run colcon build
Followed by source install/setup.zsh
Launch the simulation with ros2 launch exomy_sim_launch simulation.launch.py
Rviz2 and gazebo should open and you can drive around with the gamepad
If you wanna use the web GUI you have to start another terminal in the container
You can do that from the host with docker exec -it exomy_sim zsh
Change to the directory exomy_ws/src/exomy/gui
The commands to start the http-server and ros webbridge were put in a script
Start the script with sh run_gui.sh
It should show you an ip address that you can click on or copy into your browser
The Web GUI should show up and you can use it to drive around

Known Problems

When running on a slower system, e.g a Virtual Machine, the spawn_entity.py script could fail, due to a slow startup time of Gazebo. For this case the launch file spawn_exomy.launch.py is provided. To use it the line spawn_rover in the return LaunchConfiguration() needs to be commented out. Then the simulation.launch.py can be run. When Gazebo is launched properly the spawn_exomy.launch.py can be run.