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

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 up to 1~2 minutes to load the world with all the models. The GUI will be non-responsive during this time, see #3

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.