ROS2 Workspace

Workspace for projects from MARS Lab running ROS2 Humble

• Originally fork of https://github.com/athackst/vscode_ros2_workspace/tree/humble-nvidia

Requirements

• Ubuntu 22.04 LTS
• Nvidia driver 555 with CUDA 12.5

Setup

Host

If compatible Nvidia GPU is available:

• See setup/host_gpu_driver_setup.sh

If compatible Nvidia GPU is not available:

• Switch to the no_cuda branch

Dev container

See general instructions for using workspaces with docker.

Running the simulation

1. Launch human simulator:
   • Settings are in hunavis/params/hunavsim.yaml

ros2 launch hunavis mars.launch.py

2. Launch nav2:
   • Settings are in hunavis/params/tb3_custom_sim.yaml

ros2 launch hunavis tb3_custom_sim.launch.py

3. Launch human detection (including loading rviz)

ros2 launch hunavis hudet.launch.py

Known issues

• If the simulator doesn't run properly, killing all processes that still are running after ^C may help.
  • Execute the following line to kill the likely remaining processes:
  • Run ps -a to verify no processes remain. If any remain, kill them one by one until ps -a shows they are gone.
  • Double check that these processes are not running both within the docker container and on the host.

pkill -9 gazebo && pkill -9 gzclient && pkill -9 gzserver && pkill -9 ros2 && pkill -9 python3

• If you get an permission denied error like error creating runtime directory '/run/user/1001' (permission denied):
  • Run the following:
  • Lines 2 and 3 ensure ros has ownership of the runtime directory. The last line sets up the Gazebo environment.

source ~/.bashrc
sudo chmod -R 700 /run/user
sudo chown -R ros:ros /run/user
source /usr/share/gazebo/setup.sh

• If the initial colcon build fails, it is likely due to dependency issues.
  • Try running

sudo apt-get update
rosdep update
rosdep install -i --from-path src --rosdistro humble -y
colcon build --symlink-install