Example trajectory visualization

See instructions to build or download the containerized iscoin_simulator.

Depending on hardware availability, run the container with docker compose and either the gpu or cpu argument

docker compose run --rm --name iscoin_simulator gpu|cpu

Inside the container, the UR3e simulator can be started from the terminal with

ros2 launch iscoin_simulation_gz iscoin_sim_control.launch.py

which will open the Gazebo Ignition display locally, on the host device. To send commands to the simulated robot, another terminal window is needed. This can be done by using a terminal multiplexer like tmux or by entering the running container through another terminal with

docker exec -it iscoin_simulator /bin/bash

As an example, run the following command from the new terminal window to simulate a demo trajectory:

ros2 run iscoin_driver demo.py

The trajectories to be simulated are saved as json in the iscoin_driver/config directory. Custom trajectories can be passed to the demo script in the following manner:

ros2 run iscoin_driver demo.py --ros-args -p traj:=<path-to>/custom_traj.json

To quit the simulator, close the window or use CTRL+C in the corresponding terminal.