jetty_demo

Jetty demo world and resources

Quick Start:

git clone https://github.com/gazebosim/jetty_demo
cd jetty_demo
export GZ_SIM_RESOURCE_PATH=`pwd`/jetty_demo/models:$GZ_SIM_RESOURCE_PATH
gz sim -v 4 jetty_demo/worlds/jetty.sdf

Or launch it from rocker,

rocker --x11 -- ghcr.io/gazebosim/jetty_demo:main ros2 launch jetty_demo world.launch.xml

Demos

The demos showcase new features in Gazebo Jetty.

The jetty.sdf world file contains descriptions of a couple of demos without the need to set up and build a workspace, namely:

• Mass based automatic inertia computation
• Look-up wheel slip plugin

Just launch the world and follow in the instructions in the world file.

More complex demos are listed below.

ROS 2 Simulation Interfaces demo

A demo showcasing the use of the ROS 2 simulation interfaces for interacting with Gazebo.

See sim_iface_demo/README.md for instructions on how to run the demo.

Bzlmod demo

A demo using the bazel module system for building and running a client program that talks to Gazebo.

For more info, see https://github.com/shameekganguly/jetty_bazel_demo

Launching the Open-RMF demo

rocker --x11 -- ghcr.io/gazebosim/jetty_demo:main ros2 launch jetty_demo rmf_demo.launch.xml

Don't forget to hit the Play button to run the sim before starting the tasks below.

In a separate terminal exec into the same rocker container, to run some tasks,

# Get the container ID
docker ps

# Exec into the container ID
docker exec -it <CONTAINER_ID> bash

# Run some Open-RMF patrol tasks
source /ws_jetty/install/setup.bash
export RMW_IMPLEMENTATION=rmw_zenoh_cpp
ros2 run rmf_demos_tasks dispatch_patrol -p workcell_1 workcell_2 workcell_3 -n 10 -st 0 --use_sim_time -F deliveryRobot -R deliveryRobot1
ros2 run rmf_demos_tasks dispatch_patrol -p workcell_3 workcell_2 workcell_1 -n 10 -st 0 --use_sim_time -F deliveryRobot -R deliveryRobot2

Development in distrobox

distrobox create -n jetty_demo --hostname jetty_demo -i ghcr.io/gazebosim/jetty_demo:main
distrobox enter jetty_demo

source /ws_jetty/install/setup.bash
ros2 launch jetty_demo world.launch.xml

Performance notes

It can take some time to load the world with all the models. The GUI will be non-responsive during this time.

To speed up loading the demo world, you can comment out different models in the world, which helps improve startup time and RTF.

For example, some Picking_Shelves* were already commented out in the world sdf file. To further speed things up, you can comment out all of them.