ROS2 Fleet Robot Template

A project template that allows building a multi-robot ROS2-enabled simulation. The template contains a level with a large warehouse scene called Warehouse.prefab.

Requirements

Due to ROS2 dependency, this project was prepared and tested on Linux operating system. It is recomended to use Ubuntu 22.04, however any distribution meeting following requirements may be used.

Refer to the O3DE System Requirements documentation to make sure that the system/hardware requirements are met. This project has the following dependencies:

Please make sure that clang was installed and configured. For details refer to this section of O3DE documentation.

Setup Instructions

The following steps will assume the following:

You have ROS2 Humble installed and environment is sourced.
The O3DE gems, projects and templates will be placed in the O3DE home folder: ${HOME}/O3DE.
You have the O3DE engine downloaded and built and it is located in /home/${USER}/O3DE/Engines/Development.

In this tutorial, CLI tools will be used. It is also possible to use O3DE GUI to set up a project from template. See the O3DE Project manager documentation for more details. In such cases it is required to source your ROS2 distribution before launching O3DE manager:

source /opt/ros/humble/setup.bash
./build/linux/bin/profile/o3de

1. Install ROS2 packages

sudo apt install ros-${ROS_DISTRO}-ackermann-msgs ros-${ROS_DISTRO}-gazebo-msgs ros-${ROS_DISTRO}-control-toolbox

2. Download the template and asset gems

For convenienience, we'll define a shell variables with O3DE folders:

export O3DE_HOME=${HOME}/O3DE

Clone the o3de-extras repository containing the template and asset gems

mkdir -p ${O3DE_HOME}/Projects
cd ${O3DE_HOME}/Projects
git clone https://github.com/o3de/o3de-extras.git 
cd o3de-extras 
git lfs install && git lfs pull

${O3DE_HOME}/scripts/o3de.sh register --gem-path ${O3DE_HOME}/Projects/o3de-extras/Gems/ROS2
${O3DE_HOME}/scripts/o3de.sh register --gem-path ${O3DE_HOME}/Projects/o3de-extras/Gems/WarehouseAssets
${O3DE_HOME}/scripts/o3de.sh register --gem-path ${O3DE_HOME}/Projects/o3de-extras/Gems/ProteusRobot
${O3DE_HOME}/scripts/o3de.sh register --template-path ${O3DE_HOME}/Projects/o3de-extras/Templates/Ros2FleetRobotTemplate

3. Create a ROS2 project from the template

Assign a name for the new project. In this example, it is assumed that it will be: Ros2FleetRobotTest, and it will be located in ${O3DE_HOME}/Projects/Ros2FleetRobotTest folder.

export PROJECT_NAME=Ros2FleetRobotTest
export PROJECT_PATH=${O3DE_HOME}/Projects/${PROJECT_NAME}
${O3DE_HOME}/scripts/o3de.sh create-project --project-path $PROJECT_PATH --template-name Ros2FleetRobotTemplate

4. Build the project

Next, let us build the project with necessary elements of the O3DE engine and ROS2 Gem.

cd $PROJECT_PATH
source /opt/ros/humble/setup.bash
cmake -B build/linux -G "Ninja Multi-Config" -DLY_STRIP_DEBUG_SYMBOLS=TRUE -DLY_DISABLE_TEST_MODULES=ON
cmake --build build/linux --config profile --target $PROJECT_NAME.GameLauncher Editor

5. Launch Editor

Finally, the O3DE with preloaded gems can be run:

$PROJECT_PATH/build/linux/bin/profile/Editor

Spawning robots

The level contains spawn points configured to spawn Proteus robots. To spawn all spawn points call the following services in ROS2:

source /opt/ros/humble/setup.bash
ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'proteus', xml: 'spawnPoint1'}'& \
ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'proteus', xml: 'spawnPoint2'}'& \
ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'proteus', xml: 'spawnPoint3'}'& \
ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'proteus', xml: 'spawnPoint4'}'

Topics and frames

Every spawned robot has its namespace. The first spawned robot publishes and subscribes to topics:

/proteus_1/cmd_vel - the requested velocity
/proteus_1/pc - the LiDAR pointcloud

The first spawned robot also provides the following transformations:

/proteus_1/odom
/proteus_1/base_link
/proteus_1/lidar

Example

To drive the second spawned robot use the following tool with topic name /proteus_2/cmd_vel:

source /opt/ros/humble/setup.bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap /cmd_vel:=/proteus_2/cmd_vel

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