Getting started - lge-ros2/cloisim GitHub Wiki

Prerequisite

Check environment

Make sure if graphic driver is installed in your machine.

Install prerequisite libraries

sudo apt-get install libgl1 libvulkan1 libc6-dev libxcursor1 libminizip-dev libgdiplus

Run CLOiSim

Editor Mode

TBD

Binary Mode

world file should be located in 'CLOISIM_WORLD_PATH' path

Set environment path like below

$ export CLOISIM_FILES_PATH="/home/Unity/cloisim/sample_resources/media"
$ export CLOISIM_MODEL_PATH="/home/Unity/cloisim/sample_resources/models"
$ export CLOISIM_WORLD_PATH="/home/Unity/cloisim/sample_resources/worlds"

Option A

$ ./CLOiSim.x86_64 -world cloisim.world

Option B

you can execute './run.sh' script in release binary version.

$ ./run.sh cloisim.world

Option C

※ support since 4.9.6 and only for linux

you can run headless mode, sudo permisison can be required to install libraries for headless mode.

$ ./run.sh --headless --world cloisim.world

you can run non-headless mode

$ ./run.sh --world cloisim.world

After run CLOiSim

• 'cloisim_ros' ros2 packages for transporting sensor data are required.

• Run bringup node in 'cloisim_ros' ros2 packages

• And have fun!!!