`isaac_ros_mission_client`

Source code on GitHub.

Overview

The package includes the MQTT bridge nodes, the VDA5050 Nav2 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.

Clone isaac_ros_common under ${ISAAC_ROS_WS}/src.

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

(Optional) Install dependencies for any sensors you want to use by following the sensor-specific guides.

Warning

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

Build `isaac_ros_mission_client`

Launch the Docker container using the run_dev.sh script:

cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
./scripts/run_dev.sh

Install the prebuilt Debian package:

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

Clone this repository under ${ISAAC_ROS_WS}/src:

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

Launch the Docker container using the run_dev.sh script:

cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
./scripts/run_dev.sh

Use rosdep to install the package’s dependencies:

rosdep install --from-paths ${ISAAC_ROS_WS}/src/isaac_ros_mission_client/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

Source the ROS workspace:

Note

Make sure to repeat this step in every terminal created inside the Docker container.

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_nav2_client_bringup isaac_ros_vda5050_client.launch.py

Launch mission client and navigation2

ros2 launch isaac_ros_vda5050_nav2_client_bringup isaac_ros_vda5050_nav2_client.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.
`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

Additional parameters for isaac_ros_vda5050_nav2_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/$USER/workspaces/isaac_ros-dev/src/isaac_ros_mission_client/isaac_ros_vda5050_nav2_client_bringup/maps/carter_warehouse_navigation.yaml`	The full path to the occupancy map file to load
`nav_params_file`	`string`	`/home/$USER/workspaces/isaac_ros-dev/src/isaac_ros_mission_client/isaac_ros_vda5050_nav2_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_mission_client/isaac_ros_vda5050_nav2_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