`isaac_ros_mission_client`#

Source code available on GitHub.

Overview#

The package includes the MQTT bridge nodes, the VDA5050 Client node and launch scripts to bringup these nodes, both with and without navigation2.

Isaac ROS Mission Client Tutorial

Quickstart#

Set Up Development Environment#

Set up your development environment by following the instructions in getting started.
(Optional) Install dependencies for any sensors you want to use by following the sensor-specific guides.

Note

We strongly recommend installing all sensor dependencies before starting any quickstarts. Some sensor dependencies require restarting the development environment during installation, which will interrupt the quickstart process.

Build `isaac_ros_mission_client`#

Activate the Isaac ROS environment:
```
isaac-ros activate
```

Install the prebuilt Debian package:

sudo apt-get update

sudo apt-get install -y ros-jazzy-isaac-ros-mission-client

Install Git LFS:

sudo apt-get install -y git-lfs && git lfs install

Clone this repository under ${ISAAC_ROS_WS}/src:

cd ${ISAAC_ROS_WS}/src && \
   git clone -b release-4.0 https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_cloud_control.git isaac_ros_cloud_control

Activate the Isaac ROS environment:
```
isaac-ros activate
```

Use rosdep to install the package’s dependencies:

sudo apt-get update

rosdep update && rosdep install --from-paths ${ISAAC_ROS_WS}/src/isaac_ros_cloud_control/isaac_ros_mission_client --ignore-src -y

Build the package from source:

cd ${ISAAC_ROS_WS}/ && \
   colcon build --symlink-install --packages-up-to isaac_ros_mission_client --base-paths ${ISAAC_ROS_WS}/src/isaac_ros_cloud_control

Source the ROS workspace:

Note

Make sure to repeat this step in every terminal created inside the Isaac ROS environment.

Because this package was built from source, the enclosing workspace must be sourced for ROS to be able to find the package’s contents.
```
source install/setup.bash
```

API#

Usage#

Launch mission client#

ros2 launch isaac_ros_vda5050_client_bringup isaac_ros_vda5050_client.launch.py

Launch mission client and navigation2#

ros2 launch isaac_ros_vda5050_client_bringup isaac_ros_vda5050_client_nav2.launch.py

ROS Parameters#

Parameters for isaac_ros_vda5050_client.launch.py

ROS Parameter	Type	Default	Description
`namespace`	`string`	`(Empty string)`	The ROS namespace used for the ROS graph. e.g. carter
`mqtt_host_name`	`string`	`localhost`	The MQTT broker IP to connect to. e.g. 192.168.25.32
`mqtt_port`	`string`	`1883`	The MQTT broker port
`mqtt_transport`	`string`	`tcp`	The protocol to use for sending MQTT messages (either tcp or websockets)
`mqtt_ws_path`	`string`	`''`	The path for the WebSocket if the protocol set in mqtt_transport is websockets
`interface_name`	`string`	`uagv`	Name of the used interface. It constitutes a segment of the MQTT topic name. The format for MQTT topic names is constructed as `<interface_name>/<major_version>/<manufacturer>/<serial_number>/[order\|state\|instantActions]`
`major_version`	`string`	`v2`	VDA5050 major version number. It constitutes a segment of the MQTT topic name.
`manufacturer`	`string`	`RobotCompany`	Manufacturer of the AGV. It constitutes a segment of the MQTT topic name.
`serial_number`	`string`	`carter01`	Unique AGV Serial Number. It constitutes a segment of the MQTT topic name.
`robot_type`	`string`	`amr`	Set the robot type (either amr or arm).
`ros_publisher_type`	`string`	`vda5050_msgs/Order`	The ROS message type to convert incoming MQTT messages to
`ros_subscriber_type`	`string`	`vda5050_msgs/AGVState`	The ROS message type that outgoing MQTT message are converted from
`ros_to_mqtt_name`	`string`	`Carter01_RosToMqttBridge`	The MQTT client name for the RosToMqtt Node
`mqtt_to_ros_name`	`string`	`Carter01_MqttToRosBridge`	The MQTT client name for the MqttToRos Node
`retry_forever`	`bool`	`true`	Retry connecting forever if connection to MQTT message broker is not established
`reconnect_period`	`int`	`5`	The period of time to wait before retrying to connect to MQTT message broker (in seconds)
`num_retries`	`int`	`10`	The number of reconnection retries to connect to the MQTT message broker before giving up. This setting is only valid if `retry_forever` is set to `false`
`ros_recorder`	`bool`	`false`	Launches isaac_ros_scene_recorder``_ if set to ``true
`config_file`	`string`	`vda5050_client_params.yaml`	The full path to the VDA5050 client parameter file to load

Additional parameters for isaac_ros_vda5050_client.launch.py

ROS Parameter	Type	Default	Description
`use_namespace`	`bool`	`false`	Whether to apply a namespace to the navigation stack
`use_composition`	`bool`	`false`	Whether to use composed Nav2 bringup
`use_sim_time`	`bool`	`false`	Whether to use simulation (Omniverse Isaac Sim) clock
`init_pose_x`	`float`	`0.0`	The initial position X coordinate
`init_pose_y`	`float`	`0.0`	The initial position Y coordinate
`init_pose_yaw`	`float`	`0.0`	The initial yaw orientation
`map`	`string`	`/home/$USER/workspaces/isaac_ros-dev/src/isaac_ros_cloud_control/isaac_ros_vda5050_client_bringup/maps/carter_warehouse_navigation.yaml`	The full path to the occupancy map file to load
`nav_params_file`	`string`	`/home/$USER/workspaces/isaac_ros-dev/src/isaac_ros_cloud_control/isaac_ros_vda5050_client_bringup/config/carter_navigation_params.yaml`	The full path to the navigation parameter file to load
`info_generator_params_file`	`string`	`/home/$USER/workspaces/isaac_ros-dev/src/isaac_ros_cloud_control/isaac_ros_vda5050_client_bringup/config/json_info_generator_params.yaml`	The full path to the JSON Info Generator parameter file to load
`launch_rviz`	`bool`	`false`	Launches RViz if `true`

isaac_ros_mission_client#