Isaac Gym 5. 联合ROS

之前也发布过DRL与ROS系统通信的流程，重新翻看效果不佳。现在重新梳理一些步骤。

Unitree+DRL Vmware环境配置_isaac gym虚拟机安装-CSDN博客

当前环境：ubuntu 20.04, ros-noetic, anaconda env。

1. 安装

 在conda环境中安装ros通信需要的包：

pip install rospkg

安装完成后，在编译器中添加路径。使用pycharm。

PyCharm设置External Libraries_pycharm external library-CSDN博客

/opt/ros/noetic/lib/python3/dist-packages

以下的包可以正常识别 。

import rospy
from std_msgs.msg import Header
from sensor_msgs.msg import JointState
from std_msgs.msg import Float64MultiArray, Float64
from gazebo_msgs.msg import LinkStates, LinkState
from gazebo_msgs.msg import ModelState
from geometry_msgs.msg import Pose, Twist

2. 测试

运行roscore

运行 python ./ros_utils/publisher.py

# -*- coding: utf-8 -*-


import rospy
from std_msgs.msg import String


def publisher():
    # Initialize the ROS node
    rospy.init_node('simple_publisher', anonymous=True)

    # Create a publisher object
    pub = rospy.Publisher('chatter', String, queue_size=10)

    # Set the loop rate
    rate = rospy.Rate(1)  # 1 Hz

    while not rospy.is_shutdown():
        # Create a message to publish
        hello_str = "Hello, ROS! %s" % rospy.get_time()

        # Log the message
        rospy.loginfo(hello_str)

        # Publish the message
        pub.publish(hello_str)

        # Sleep for the loop rate duration
        rate.sleep()


if __name__ == '__main__':
    try:
        publisher()
    except rospy.ROSInterruptException:
        pass

运行 python ./ros_utils/subscriber.py

# -*- coding: utf-8 -*-


import rospy
from std_msgs.msg import String


def callback(data):
    rospy.loginfo("Received data: %s", data.data)


def listener():
    rospy.loginfo("start ...")
    rospy.init_node('simple_publisher', anonymous=True)
    rospy.Subscriber("chatter", String, callback)

    rospy.spin()


if __name__ == '__main__':
    try:
        listener()
    except rospy.ROSInterruptException:
        pass

 

检查节点

3. Gazebo